I can confirm with first hand experience that Pentacene molecules do, in fact, "look" just as we draw them. But again the definition of look is a bit loose. By using a Scanning and Tunneling Microscope what we can "see" is essentially a mapping of the local density of states, or in more layman's terms we see the electron structure of the molecule which more ore less agrees with how we draw them normally.
The picture, pun intended, gets a bit more blurred when you were dealing with more complicated molecules or systems of molecules (crystal structure). For instance, when imaging graphene (single layer of carbon atoms) atop a ruthenium lattice the STM produces pictures of the Moiré pattern that occurs when two lattices of slightly differnet sizes are overlaid. (Both graphene and ruthenium form 2-d hexagonal lattices)
If care is taken, and the conditions are right, and you are really good at fiddling with the STM, and you have a lot of patience, you can get atomically resolved images out of those moiré patterns. This provides a more definite idea of the physical structure of what you are looking at.