Yes they have the same meaning. But (hal kardan) is informal and it is used when you are talking with your close friends for example, however (lezzat bordan) is formal and you can use it in any situation that you need to use it.
For example when you say to your friend that (خیلی باهات حال میکنم) it means that he/she is good friend for you and you love spend your time with him/her. This is informal
But when you say (از بودن در کنار شما لذت میبرم) it is formal and has the same meaning, the only difference is that this is the polite form.