Yes, but there is no such a thing as an Emissions Service, it may be a "product" they want to sell you.. If they did in fact find a code set, that's a different case, it may need a repair. Ask. Otherwise I'd assume your car is fine, motor on. If convenient, use a different dealer next time. The servive department is a whole separate business from sales.
2014 CR-V Owner's Manual
Maintenace "B" at a dealership includes more then just an oil change, one of which is the Exhaust (emissions) System. It is quite likely they actually run a systems check on the system.. just like they do with the battery (even though the battery test is not a Maintenance B requirement by Honda). Owners can actually run a full emissions system compliance check on their own too... using a good OBDII scanner.
CODE Maintenance Main Items
A ● Replace engine oil
B ● Replace engine oil and oil filter
● Inspect front and rear brakes
● Inspect these items:
• Tie rod ends, steering gearbox, and boots
• Suspension components
• Driveshaft boots
• Brake hoses and lines (including ABS/VSA®)
• All fluid levels and condition of fluids
• Exhaust system
• Fuel lines and connections