That is correct. Keep in mind that the radius of the nuclei is tiny compared to the radius of the actual atom. Most of the space is consumed by electrons.
The more electrons that are liberated from the electron shell, the stronger the positive charge of the overall atom. That charge comes from the nucleus. What is surrounded the nucleus? A negative cloud of electrons. So, they get sucked in closer to the nucleus creating a small overall radius for that ion. Calcium as a cation has the most charge and therefore can pull in electrons more stronger than sodium or potassium cations.