Is couples counseling only for couples?

My ex has suggested couples counseling several times now since a month after we broke up and it's now been 6 months and he still brings it up almost every time we talk. (We still talk because we have a month old son together). He says we should go to see if our problems can be worked out and we can be together again. But I think it's more for actual couples that are already together to work out their issues. What do you think?
I'm debating it only because we have a baby together and I do miss him... but he cheated on me and I kind of feel like the relationship is just over and it's too late.
Is couples counseling only for couples?
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