I would say, generally, yes. There are differences in the usage.
Some soup? - used in very colloquial situation, when both of you know what you're talking about. You can ask your friend this question.
Would you like some soup? - polite question to anyone, it can be a person older than you are or younger. A waiter can ask you this question as a recommendation.
Do you want some soup? - used between friends or family, you wouldn't say anything like this to a client :)