If you are talking about the pier right by the Jericho Sailing Center, the answer is No. It is used by the center for its rescue boats and there are also restricted access for power boats east of the pier because that is where the wind surfers, learning sailors and paddle boarders are schooled. I have picked up and dropped off to the sailing center with my 19' Campion by beaching just west of the pier. That is doable on a high tide, but is a "wet" landing for your passengers.
You can physically dock there, but if the center staff see you they will say you are not suppose to use it.