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Yes, here's one method that should work.
Choose a .pdf file that you might have. Get Info for that file.
Go to Opens With, and set that for Adobe Reader.
Then, also click the Change All... button in that same section of the Info window.

That procedure MIGHT not be permanent, particularly as you get PDF files from other sources, so you may need to repeat that same procedure occasionally, just as an update for you system. (I have seen in my experience that PDF files are strange beasts, and will sometimes not cooperate with your default system settings, but your experience may be different.)
You can also use an app that will give you a means to set defaults for a lot of different situations, and that may work more reliably for you.
Try out RCDefaultApp. I have never used it, but it is often mentioned for needs such as yours.