Yes, if you have the extra guest fee and/or pet fee in your listing and can show that they brought an extra guest or pet, Air will pay it if the guest refuses.
When extra guests come to the property I will usually leave it alone unless they are disruptive or causing havoc. I have security cameras so I can screenshot the extra guests for proof to Airbnb. As long as no damage is being done I leave it alone, why? Because I don’t want to upset the guests or risk a bad review. I wait until the guests checkout and NICELY explain I was aware of the extra guests and will request payment. Even if the guests decline Airbnb will pay the extra fees because of the proof from the cameras.