Yes, exactly. Nothing wrong with coasting or idling. Power steering pumps are designed to cope (they can generate enough force to turn static wheels at idle with the brakes applied), so that's not a reason either.
The silly people who think it's dangerous claim that you won't be able to accelerate in an emergency. Considering 99.9% of the population wouldn't even THINK of accelerating in an emergency, and only brake, I don't think that's really an issue either.
They say that if you are coasting to a red light and it turns green then you have to get back in gear to go. Which wastes what? A second? Maybe two? And it's not a race so wasted time doesn't matter. If you were in 5th, and at 15mph when the light changed you'd still have to change gear.
They say don't go down through each gear, because brakes are for slowing, and are cheaper than gears. Obviously they don't understand gearboxes these days are constant mesh. And coasting takes all the load of the gearbox, and saves even more of the tiny wear they are so keen to avoid.
But then they teach steering shuffling - DANGEROUS
They teach you to spend more time looking in your mirror than ahead - DANGEROUS
They teach you to drive REALLY slowly, using no revs and high gears - NOT DANGEROUS, BUT BAD FOR CARS AND THE ENVIRONMENT.
Don't ever listen to your driving instructor from the day you pass you test, because they have not taught you to drive in a safe, economical way. Ever wondered why nobody except learners drives like they're on a driving test? Because it does not work in the real world.