可以啊！

He lay on the bed, reading a book. read是持续性动词。

老师，同时发生的动作可以理解为伴随状语，那接续性动作可以理解为伴随状语吗？

伴随状语，即一个谓语动词动作在发生的同时，伴随另外一个非谓语动作也在发生。

He sat in a armchairl and read a newspaper .

He sait in an armchair , reading a newspaper.

Tom sat there silently, thinking of his dead pet dog