Yes! In the Form Settings area of the form-level control panel, select the Donations option.
Navigate to the Settings tab.
Scroll down to the Recurring Settings section and switch the Allow donor to specify an End Date toggle to the off position if you don't wish to give your donors the option to end their recurring gift.
This is done on a per-form basis, so you'll need to make this change on each donation form if you have more than one.