It is a long-running discussion about whether they are eating the coral or just cleaning up dead spots on the coral. The best evidence of them eating healthy coral is with zoas, where they have convincingly been seen munching on them. But even then, it is only some types of zoas and only some asterinas, and seems like more when they get to plague numbers rather than just a few of them.
They also definitely eat coralline algae, which gets to be a problem when there are too many.
I lost some zoas and had a ton of asterinas, so I’ve been manually thinning their numbers (by the hundreds) and have seen improvement in coralline and zoas.