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If you have one GPU then the answer is no. CUDA functions will execute synchronously on the GPU.

I think you are confusing asynchronous calls, which return control back to the CPU before the CUDA function has completed with multit-threaded execution. The CUDA functions exploit data parallelism, which operates in the same way to SIMD instructions on a CPU, not task parallelism, which allows you to run two instances of a function in separate threads on a CPU.