I'm not really a biologist, but I think this has something to do with the balance: when you move in some direction, it would be extremely disadvantageous to have one side significantly heavier than another.
Take two runners, give one a 15 kg weight in one hand, and give another 15 kg weights in both hands (30 kg total). I think the runner with weights in both hands would run faster than the one with one weight.
Thus, moving species evolve to be bilaterally symmetric.
If the organism has no need to move in certain direction, it doesn't really have bilateral symmetry, like trees or bushes (though big trees generally tend to have their center of mass close to their vertical axis).