Yes, the positions of stars in constellations can change over time due to various astronomical phenomena. The apparent motion of stars in the night sky is primarily caused by the combined effect of Earth's rotation on its axis and its revolution around the Sun. This motion, known as diurnal motion, gives the impression that stars move across the sky.
However, over longer periods of time, the positions of stars within constellations can change due to their own motion through space. This is known as proper motion. Proper motion is caused by the individual motions of stars within the Milky Way galaxy, including their orbits around the galactic center and their motion relative to nearby stars.
While the positions of stars in constellations may change over thousands or millions of years, the changes are generally small and not noticeable within a human lifetime. Therefore, the constellations we observe today generally retain their overall patterns and shapes as recognized by ancient civilizations.