Yes, you just plug directly into the ONT (that is the box that converts the fibre optic signal to ethernet) or use the bridged port 1 on the Telus router.
One caveat is that your router may not be able to get IPv6 addresses if it does not support DHCPv6-PD. I have a brand new tplink wireless ac router that does not support that even though it's a fairly high end recent model with all the bells and whistles. Doesn't matter if I connect directly to the ONT or to the bridged port on the Telus router.
Do you have internet only or do you also have OpticTV?
If your're internet only the setup is very simple and you certainly use your own router.
But if you have OpticTV as well the setup gets a bit more involved if you truly wish to ditch the actiontec.
To do this the right way you will need a router with IPTV and 802.1p support.
These two routers work for sure, other may work as well but these ones have been tested.
More information on setting up your Telus TV on a 3rd party router can be found here:
I can personally confirm this works with the R7000 but I haven't personally tested the ASUS although people claim it works great too.
A number of folks have found the T3200M router does not always work as expected. In my instance, my iPhone could not reliably connect to my Hue lights, we could not print to printers from iOS devices, and could not use Home Sharing between Mac computer and iOS devices. Adding another router addresses this.