Yes, devices are attached to users only, not users AND endpoints, so a Duo user can authenticate to any application for which they are permitted using the same device, as long as the device type is permitted for those applications.
User A has an account on Computer A & B. Can User A authenticate his account on Computer A & B using one device ?
Yes, if User A exists in Duo with Phone A, and User A is permitted to log into the Duo applications installed on Computer A and B, User A can log into Computer B and authenticate with Phone A.