Yes, that's the same bridge. Although I'm probably the only one on this forum that thinks so, this is the best crossing. It's at the end of I-35. Pay a small toll in Peso or USD, ride through the first inspection on the Mexico side (they hardly ever stop you here - keep moving with certainty unless a uniformed person signals you to stop). Keep to the left - your goal is to drive parallel to the Rio Grand for a few miles. If you have your tourist permit keep on heading southeast- if not look for a left turn dogleg which is controlled by a traffic light arrow. Make the turn and you'll wind up under the bridge you just crossed. There's a large parking area on your left. In the large white building find the #1 counter to get your tourist permit. Bring a pen or two. You have your TIP so after you've filled out and paid for the tourist permit you're good to go.
Back to the same 4 lane divided highway in a southwesterly direction until you pass under an overpass. Get in the left lane and get on that road and Monterrey.
Have a great trip!