Yes, the notes in a chord are CHORD TONES. As to how to use them to improvise, I think that a knowledge of chord progressions and how they are built is essential. If you know what key you are playing in and if you know which chords belong to that key, it is fairly simple to play arpeggios which fit the key of the music.
I have a website which offers free guitar and music theory lessons and I will post it here as soon as I am allowed.
Keep up the search for musical knowledge and you will be rewarded!
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