yes, it is a starfish. it is some kind of Asterina spp. it could be good or bad. from the sounds of where and when you found it i would be inclined to believe it is the good algae eating kind. the bad kind tends to eat the flesh off of
SPS corals, mainly Acroporas. as long as you do not have any SPS you prolly do not have anything to worry about. if you do than look to see where the starfish are. if they tend to congregate under the rocks that hold these corals than you might be in trouble and look for dead areas at the base of the corals.
most people have the algae eating good kind. they very seldom have equal length arms. they can reproduce quite rapidly, so you might have more than you think. if they cam become epidemic in some tanks.
G~