As indywind noted, if you're getting benefit from the stretching and not experiencing harm, you're doing it right! And, yeah, on reflection I do see how it would be stretching iliopsoas. :) And feeling things loosening up and feeling better after stretching is a clear sign it's helpful, exactly as you're doing it.
Sadly the variations I was going to show you are of no use for this particular thing, since they target the rotators and actually remove the hip extension entirely. If you're looking for more variety than just pigeon, then you'd want to look for poses/shapes/stretches that put one of your hips into extension, as that's what's giving you the stretch in iliopsoas in pigeon. I don't remember anything particular off the top of my head, but anyway, yes.
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Sadly the variations I was going to show you are of no use for this particular thing, since they target the rotators and actually remove the hip extension entirely. If you're looking for more variety than just pigeon, then you'd want to look for poses/shapes/stretches that put one of your hips into extension, as that's what's giving you the stretch in iliopsoas in pigeon. I don't remember anything particular off the top of my head, but anyway, yes.