I would recommend you search for some videos on youtube showing damping techniques. You can use the RH fingers and thumb, e.g. with light rest stroke to dampen a lower string, by planting the RH fingers prior to playing the next note, by using a free LH finger to dampen one or more strings, etc. There are many techniques, it is not easy from your description to know whether what you are doing is the optimum way. In general, try to avoid as much as possible to throw your left or right hand out of position. But sometimes you have to, if there is no other way.