Agreed. It would be about like Antarctica. But with stronger tidal forces, or (most likely) on a more recently formed moon, it would be possible. Uncommon, but much more likely than a gas giant in the habitable zone.

For exomoons, the gas giant does not necessarily have to be in the habitable zone, due to a variety of factors such as tidally induced geological activity. I cite Titan. Imagine if it's subsurface lakes were nitrogen and oxygen (instead of ethane etc.) It would absolutely be habitable by humans, despite the parent planet being far outside our sun's relatively small habitable zone.

"We" is ambiguous. Humans as we know them? Probably not. Some genetic variation / descendant of humans eons from now? Probably could visit it. Extremely advanced construct / "AI" / created being? Almost definitely could go interstellar. Artificial and biological hybrid humans (cyborgs / posthuman bodies)? Also likely if they're ever made.