I had fishtanks for the last three decades and since the beginning I switch off the pumps once or twice a day during fish feeding to avoid precipitation of the fish food, and never had a pump failure due to it.
I had pump failures due to bad impeller bearing development (especially with the italian Sicce and Sacem brands, when closed motor mag drive pumps began to appear in aquariums in the 70's).
You can compare it to a fluorescent (TL) lamp.
It's generally admitted that switching TL lamps shortens their life and that it's better to leave them on rather than switching them on and off.
Sure, but switching on and off the TL a couple of times and leaving it off during 12 hours in total or so a day will gain you a lot more life expectancy than when you leave it on 24/24...
Also, good quality (electromagnetic) relays are rated for (tens or hundreds of) thousands of switch cycles, so don't worry about it.
Of course, this is only my opinion...
CD