Do constellations change? Many stars are part of constellations. Due to dark matter the stars have velocities which are nearly the same unregardless their radius of orbit around the centre of the Milky Way. Also, it takes about 200 million years to orbit this centre. But nevertheless the angle from which we look at those stars could change a bit during this orbit.
Regarding all these effects, could you say that constellations don't change at all or does it just take a long while?  And of course stars could run out of energy and explode and vanish, so that we don't see them anymore. But is this the only way the constellations could change?
The constellations change slowly, over thousands of years, due to the proper motion of the stars with respect to the Sun.  The main cause of these motions is the orbit of the stars around the centre of our Galaxy (with or without dark matter).  This video shows these changes for the constellation of Ursa Major over 400,000 years.

Another way the constellations can change is indeed through stellar evolution $-$ either the birth or death (or brightening/dimming) of stars.  However, the timescale for stellar evolution for naked-eye stars is typically hundreds of millions to billions of years (the Sun's life expectancy is around 12 billion years), so that this effect is much slower (and less well predictable).