Can I still get my contacts off of my iCloud?

I just got a new phone (iPhone 6s plus) and I couldn't transfer my contacts and all my info at the store so the guy told me how to do it myself and I was having issues doing it at first but then I figured it out or at least I figured out what I was doing wrong but now I was looking at my contacts and they are old ones and some are missing. So i backed everything up to iCloud from my old phone (iPhone 5c) and I'm wondering if I can still get all the right contacts onto my new phone?

Yes definitely