Yep. Denatonium benzoate is often used in Denatured Alcohol (ethanol) to discourage people from drinking it.
Note, though, that most most formulations contain genuinely poisonous denaturants as well - usually methanol or pyridine, or occasionally acetone or MEK or isopropanol. Something toxic and difficult to remove.
(So I guess that’s “to prevent intentional poisoning”, eh?)
