Ya I agree. I had my 2yo son jump on my tummy a few weeks ago and it was not softly! It about killed me but baby is fine. I also fell up the stairs when I was just a few weeks pregnant with my first child. Scared the heck out of me since one of the steps went right into my tummy. Everything was still fine!
My 40lb two year old still lays on my belly and I'm 35 weeks. I also sleep on my stomach. There is enough muscle protecting your baby that baby should be fine.