Yes, Signal's database is encrypted. So you need to need to extract the Signal database and the encryption key from the keychain/Android Keystore system. Or try bruteforce Signal database without the key, but good luck with that.
See this:
Unlike other applications, such as Whatsapp, Telegram, Messenger, etc., SIGNAL keeps its local database (signal.db) encrypted in AES-GCM mode, that is, even if it is possible to collect such a base through a collection physical (ROOT and others) or logical (DOWNGRADE), nothing can be done while it is not decrypted. For this, we have to obtain three values to decrypt the database, the first is the value of the key that is in the USERKEY_SignalSecret file, in HEXADECIMAL format, located in the KEYSTORE of the device. The other values are present in the XML file, org.thoughtcrime.securesms_preferences.xml, located in Signal's root folder, being the CIFREADED TEXT with AUTHTAG (authentication TAG) + IV, all in BASE64 format.
Source: https://github.com/AvillaDaniel/Signal-Forensics