No, but if you tick "Enable floating icon" in S-pen settings you can move the icon to the left side. It will still open on the right but if you tap off the air command icon on the screen the S-pen icon shows up where you moved it last, i.e. the left hand side...
Haven't found anything more permanent than this and don't know if it would survive a reboot but this is the best available until Samsung see's fit to add the option to change sides...
Don't see them doing this any time soon though as the majority of users are right handed...