Here you can see several on my setosa. Though, I noticed the setosa was turning white at the base long before the star fish jumped on it. I've seen them on dying acros also.
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What interesting is that another user posted that their starfish never touched his dying SPS. I think it clear in your case that they're just eating the dead tissue. My question is, even if this is the case don't they make the problem worse by irritating the healthy tissue?
In my case they seem to take a little nibble and the the coral gets a bacterial infection and begins to STN. I haven't seen them swarm my corals like your showing in the picture though.