Yes, it is true. I've tested most of those apps, including CCleaner, many times over the years and have proven that they don't remove all app-related files, despite what any advertisement may say. If you want to use it, that's up to you, but it won't remove all files related to apps you delete.
As for the "tuneup" functions of the app, you don't need "cleaner" or "maintenance" apps to keep your Mac running well, and some of these apps can do more harm than good. Most only remove files/folders or unused languages or architectures, which does nothing more than free up some drive space, with the risk of deleting something important in the process.
These apps will not make your Mac run faster or more efficiently, since having stuff stored on a drive does not impact performance, unless you're running out of drive space. In fact, deleting some caches can hurt performance, rather than help it, since more system resources are used and performance suffers while each cache is being rebuilt.
Many of these tasks should only be done selectively to troubleshoot specific problems, not en masse as routine maintenance. OS X does a good job of taking care of itself, without the need for 3rd party software. Among other things, it has its own maintenance scripts that run silently in the background on a daily, weekly and monthly basis, without user intervention.
