Yes, Demon's Souls' online system is back in the same form, allowing players to leave messages for each other, appear as ghosts for fleeting moments, summon each other as co-op partners or invade each others' games as PvP opponents. The difficulty-modifying World Tendency feature has been dropped, however. Much like Demon's Souls before it, the world of Dark Souls is a lonely place, though one where other people seem to be just tantalizingly out of reach in another dimension.
Dark Souls is out on October 4 for PS3 and Xbox 360.