I don't think the OP has been worded well... as others have said the idea of selfish/selfless is a black-or-white notion that isn't appropriate and will inevitably clash with many personal experiences...
As for me: I had home births with both my children, having had problem-free pregnancies and researching my options in depth.
First time, I got the impression that I was being viewed as a young and ignorant hippy without a clue on what I was doing, which was unpleasant to say the least. I did insist that unless someone could tell me a medical reason that it would be inadvisable, I was opting for a home birth. I did and it was the best decision I could have made - for my son and me
Second time, I also had to insist that the only reason I would choose other than home would be a
medical reason, not because someone had messed up the bookings
(actually happened)... again, the best decision I could have made.
I believe if I had been in a clinical environment there is every possibility that interventions would have been unnecessarily made. My birthing partner first time round told me afterwards that whenever the MW or FOB or herself opened the door to go in or out the room, I'd slow down noticeably.
So no, it isn't just about choosing comfort and familiarity over the baby's well-being. For me, being comfortable was key in allowing labour to progress as smoothly as possible, which surely benefits the baby.
And as someone mentioned previously, there's plenty of planning goes into a planned home birth - it is not the same as not being able to make it to hospital for whatever reason.
Just some of my thoughts