The due date for filing annual return had been extended to 15th July 2020. Hence the form ITC-03can be filed by 31st July 2020. Hence you can claim ITC in july 2020.
Yes... You can claim that missed ITC in July-20 return. No more problem.
Note : If taxpayers missed ITC in FY 19-20 then they can claim that ITC on or before filing of September GST returns as per September month's due date...