Actually, this is not entirely true, because all of those animals produce waste (ammonia). So just because they are eating left-overs, does not mean they remove waste from the equation. Because they are eating, they are producing waste, and that must be taken into account...just as if you had a bunch of extra food rotting away. You can certainly overdo your invert bioload, especially if you go out and buy these huge packages with 50-60 snails for a 30 gallon tank, etc. Definitely. Especially because not all of these animals are scavengers- or can survive simply by scavenging.
What sort of starfish in particular are you talking about? Sand sifters are not good for a sand bed, and eat the critters that scavenge. Reef safe stars can not be put in small tanks, tanks with little LR, or (generally) more than one in tanks under 100g. Non reef safe forms need to be fed, as do brittle/serpent stars.
A lot of shrimp can get into big trouble if simply left to pick up a few extra morsels.