What does "closed manifold" mean?

Does "manifold" here mean "a set of points such as those of a closed surface or an analogue in three or more dimensions"?

Context:


The truth is that no one knows how or why the universe came into being. It is not clear that we can even speak coherently about the creation of the universe, given that such an event can be conceived only with reference to time, and here we are talking about the birth of space-time itself.*

*The physicist Stephen Hawking, for instance, pictures space-time as a four dimensional, closed manifold, without beginning or end (much like the surface of a sphere).