There is still a musty smell after cleanup. Should I ask the restoration company to come back?

Yes. Report where and when you notice it and ask for a reassessment before covering affected areas. EPA says moldy odors and visible mold should not remain after completed mold cleanup, and the water problem must be corrected. Odor alone does not identify its cause or prove misconduct. Ask the team to check remaining moisture, concealed affected material and whether the cleanup scope is complete. Masking a smell should not replace finding and correcting its source.