Yes choose the option to open with the tabs of the previous session.

• Use Menu Button {Three bar icon) -> Options{Cog Icon) -> |General| -> When Firefox starts [Show my windows and tabs from last time ^v]

You may choose to open Firefox with the tabs from the last session. Or you may wish to add more tabs to your homepage.

• You may have more than one tab listed as a homepage.
  (Separate the tab items in the listing with the pipe character | )
• Homepages are still available by using the House icon even if you choose to open with the last session
• See Startup, home page, tabs, and download settings
  How to set the home page

Firefox will open one normal tab when started, but should select a pinned tab if you close Firefox with a pinned tab selected.

You can check the startup setting and possibly set a blank page:

• Tools > Options > General > Startup: "When Firefox Starts":
  "Show my windows and tabs from last time"
  "Show my home page"
  "Show a blank page"