Does it take 1 day for the earth to rotate once?

24 hours for a full rotation

30 days for the moon to orbit the earth

365 days for earth to orbit the sun

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The above are standard, rough estimates for these basic periods. None of them is completely accurate. 24 hours is a day of UTC (Co-ordinated Universal time), or standard time. This used to be called Greenwich Mean Time.

A day i.e 24 hours, is time of a single rotation of planet Earth with respect to the sun.

But a 360-degree rotation about its axis happens every 23 hours 56 minutes and 4 seconds, roughly, and this period is called the Sidereal Day, so yes, one sidereal day equals one full 360^o rotation of the earth.

The difference between sidereal days and solar days is because, in addition to spinning on its axis, the earth is also slowly moving/revolving around the sun. So when it spins once in relationship to itself and to, say a distant star in outer space directly above the equator, i.e. 360^o, its position has also moved slightly round the sun. So it has to spin a round little bit more for the sun to be directly overhead, or at its highest point again. So, in approximate terms, it spins 1 and ¹/_365ths of a 360^o rotation every 24-hour day. And 24 divided by 1 and ¹/365 = 23.9344 hours, which is 23 hours, 56 minutes and 4 seconds, one sidereal day.

The moon's orbit around the earth takes about 27.3 days; the cycle of moon phases takes about 29.5 days. The orbit and the cycle of phases are not the same length of time.

A year is 365.2422 '24 hour' days, approximately. Anyone familiar with the need for 'leap days' realizes that 365 days is just a rough workable estimate, and that a leap day has to be inserted periodically to align our calendar with the solar year, i.e. one complete movement of the earth around the sun.

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it takes the earth 24 hours to rotate once.

24 hours

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Contradictory to what most people believe, It takes the Earth 23 hours 56 minutes and 4.091 seconds to rotate.
One day is a single rotation on its axis, one year is a single revolution around the sun.