That's fine. The old advice for racking off the yeast is because that's what the big professional brewers/winemakers do. The difference being yeast sitting on the bottom of 5 gallons of beer/wine vs yeast sitting on the bottom of 100,000 bbls. The massive weight crushes the yeast and then lets some undesirable flavors into the beverage. At the homebrew scale this just doesn't happen.
The only thing to be wary of without racking off the yeast is that it's easy to stir a bunch of the sediment back up if your racking cane moves around during bottling.