No.
When you don't have wifi, on an APPLE DEVICE, it is sent as a regular text message.
When you do, it is sent under Apple's version of text messages, iMessage.
The colored texts are from the iPhone sender. My texts still go out as blue even when I'm not on wifi. So it could be that the other person did get a different phone as you're seeing the texts from the senders phone.
When you don't have wifi, on an APPLE DEVICE, it is sent as a regular text message.
When you do, it is sent under Apple's version of text messages, iMessage.