Yes, the thief went to paradise, as did Lazarus (and Abraham) in the story. Hades is described in the old testament as well as various mythologies and religions. Not a nice place, but mainly just gloomy and boring. Kind of like the opening in CS Lewis' "The Great Divorce" - visualize drizzly rain with an early morning gloom and all the shops are closed, boarded up, and you are out in it.
Heaven and Hell don't enter the picture until the future point of the battle(s), judgement, etc.