Not necessarily. If the spacecraft and probe are free from the Earth's gravitational field, and the launch speed is slow enough, the probe can return eventually due to the gravitational attraction between spececraft and probe. However, it might take more or less than a day for this to happen, depending upon the launch speed. If the launch speed is too high, the probe will exceed the escape velocity and keep on going.
If the spaceccraft is an Earth satellite, the situation is more complicated. The probe will return to the same place where the launch occured, but the orbit will have charged and the spacecraft will arrive there at a different time because they have different orbital periods.