Fair enough, but outside of a few literary mentions, it still
  strikes me as conjecture that art with the earth as a flat disc
  or suspended by elephants means that's literally their belief.

  Allegory and metaphor and poetic license were as common then as
  well as now. I could be wrong but I personally believe the
  interpretation of the discworlds as meaning "ancients thought
  the world was flat" [rather than, let's say, MAPS? My paper map
  or computer doesn't prove that I believe the earth to be flat by
  it. I believe the modern belief that "somebody out there
  believed the earth is flat" is very compelling and I think was a
  kind of confirmation bias.

  But is it possible they believed it? Sure, it's possible.