Not quite. The lower motor neuron exiting the brainstem for everything but CN IV is ipsilateral to its cranial nerve nucleus. The upper motor neuron for every single cranial nerve descussates in the brainstem just like any other upper motor neuron. CN IV is just more confusing in that the lower motor neurons cross over as they leave the brainstem. So the left CN IV nucleus controls the right superior oblique, and is also innervated by the right pre-central cerebral cortex. None of the others do that. In general a cranial nerve innervates muscles that are ipsilateral to its nucleus, and contralateral to the brain hemisphere that controls it. Of course, this is ignoring that a lot of the muscles in the head receive innervation from both sides of the brain.