I voted yes - although I don't think that Stalin's goals would be as sweeping in 1941-43 as "invading Europe". I would assume that he would try to get the rest of Poland, possibly Slovakia, also to cut off oil flow from Ploesti and in general to weaken Germany as much as possible. If an invasion of Germany proper would be possible it would be a nice add-on. However, as noted in this thread several times, Stalin was not a gambler and invading Germany with Wehrmacht intact, and without a second front, would be an insane risk for the Red Army. The other way round would be an enormous risk as well - thus the disbelief that Hitler could actually pull it off.
Edit: everything I have read about Soviet policy in 1937-41 towards Nazi Germany seems to sugest that Stalin would see a conflict against Germany, though inevitable, as an competition for the sphere of influence, not a fight to the death - until he learned otherwise. The Soviet propaganda apparatus spew a lot of hot air that Stalin probably didn't believe himself, and one would assume he applied the same skepsis to the Nazi propaganda...