Interior staterooms are just that -- on the interior of the ship with no exterior wall, so no they do not adjoin (next to) or connect to a verandah room. You can book verandah and interior rooms that are directly across the hall or close to it.
It is possible to book adjoining (next to each other) verandah and oceanview rooms, but there will not be an interior door connecting the two.
Enjoy your cruise!