Can I install SQL Server Management Studio on Ubuntu 16.04?

No. You can use SQL Server Management Studio on Windows to manage SQL Server on Linux but the software itself needs Windows. The link from Microsoft does have a tip about a new tool that can:

Tip

If you do not have a Windows machine to run SSMS on, consider the new SQL Server Operations Studio. It provides a graphical tool for managing SQL Server and runs on both Linux and Windows.

SQL Server Operations Studio is currently only available as a preview but does have a download to a DEB installer.

Installation after downloading the deb:

cd ~
sudo dpkg -i ./Downloads/sqlops-linux-<version string>.deb    
sqlops

You can use Visual Studio Code (from Linux, Windows, Mac) to connect to SQL Server.

Here is a tutorial how to connect to SQL Server on Azure.