No, they very directly, backed by Iran, want the complete elimination of Israel as a Jewish state. Hamas wants the Jews to live in subjugation in the state of Palestine, in a similar fashion to the way Palestinians live right now adjacent to the Israelis.I am not an expert, but I think Hamas wants a sovereign state.
Both Israel and Hamas want the same thing. Regional and territorial power, with one party subject to the other. It just so happens that right now Israel has the more organized, capable society and the stronger military. Therefore, they have the ability to project power. Make no mistake though, if the tables were turned, Hamas would exert the same power over the Israelis. Hence the reason why they attack Israel at any time they have an opportunity.