I doubt so. I laid on my stomach all the way through my pregnancy, just to rest and not to sleep. My bump is on the small side and didn't show much till third trimester. Baby is in the amniotic fluid and surrounded by some really thick muscles, it's not harmful, it is just uncomfortable for some mums due to the bump size. I read up several articles on it.
I also had difficulty sleeping on the left due to sciatica and slept mostly on the right by late third tri. I would say go with what's comfortable for you. My baby girl was delivered a day before EDD. She's healthy and growing well now.