Regarding selects: [0]: “A key property of WITH queries is that they are normally evaluated only once per execution of the primary query… However, a WITH query can be marked NOT MATERIALIZED to remove this guarantee. … By default, a side-effect-free WITH query is folded into the primary query if it is used exactly once in the primary query’s FROM clause.
Regarding CTEs: [1]: “A useful property of WITH queries is that they are normally evaluated only once per execution of the parent query… However, the other side of this coin is that the optimizer is not able to push restrictions from the parent query down into a multiply-referenced WITH query"
Now, in either case - if you don't want the planner to inline the query - you might have to be explicit about it (I think since postgres 10?), or otherwise - yes, the output of the query will depend on the plan and this is allowed based on the docs.
[0]: https://www.postgresql.org/docs/current/sql-select.html
[1]: https://www.postgresql.org/docs/current/queries-with.html