In a way, yes. कितने लोग would translate to 'how many people'. When we add हैं at the end, it becomes a complete Hindi sentence. Now when you translate it to English, you have to output a whole sentence and not just a phrase. So we add 'there' to make it a logical English sentence because 'how many people are' doesn't make much sense. The Hindi version doesn't need the word for 'there'(yahan/vahan) to make it complete although you wont be wrong if you added it.