everything in high enough doses (even water) can kill you. that being said, over-the-counter medicine such as paracetamol cannot kill you unless you have stupidly high doses.
for paracetamol, the LD50 (the minimum dosage required for you to have a 50% chance of dying) is 1944mg/kg, the average human is around 70kg, that means that to have a 50% chance of death from a paracetamol overdose you would need to ingest around 136,080mg (136 grams) of paracetamol.
most paracetamol tablets are ~500mg, meaning you'd need to take 272 tablets just to have a 50% chance of dying.
the side affects of micro overdoses of paracetamol are things such as liver, stomach and kidney damage, which won't kill you but will severely degrade your quality of life.
tldr: yes, it can kill you, but realistically not, and the side affects are not worth the risk.