Quite the opposite, actually. The rumors were all over the cold war, presumably as part of the Wehrmacht rehabilitation effort, but when the iron curtain fell and people got access to the Soviet documents, it turned out that no such plans existed.
One might of course suspect foul play, but if that was the case, there'd be hints. Either supposedly contemporary documents actually post dating it, or incongruous passages in various documents that only make sense if something is missing. Neither is the case. The most that has been found has been a halfway panicky plan for a pre emptive attack in May 1941, when German deployments along the border were becoming increasingly impossible to miss.
Meanwhile, Soviet deployments did, contrary to often heard claims, not particularly match an offensive plan. Or a defensive one. Or any plan at all, really. Their rather haphazard deployment was, in fact, awful for all situations, and likely pushed by administrative rather than operational needs.
The ones who did make up shit about the Soviet plans after the war were the German generals, who went all "The Soviets were going to invade us if we weren't going to strike first, ahhhhhh!" yet the actual contemporary German sources say the exact opposite. To quote Franz Halder: “After all, we cannot expect them to do us the favor of attacking."
Needless to say, his claims after the war diverged substantially from his diary entries during it.
Stalin did, of course, wish to expand. That's why he allied with Hitler to invade Poland, annex the Baltic States, invade Finland and get a slice off Romania. During the war he went after Bulgaria (German ally against Yugoslavia and Greece, but hadn't declared war on the USSR), and after the war, threatened Yugoslavia, Greece, Turkey and Iran (leading to stern American letters telling him to back off or else).
The crucial difference is that where Hitler liked rolling the dice on grand campaigns, Stalin wanted easily winnable wars. He was cautious and unwilling to roll the dice, instead arranging things so he'd have no way of losing, and never risking everything.
Where Hitler dreamt, Stalin was focused entirely on the achievable. As a result, there was no serious plan to invade Germany, and no way he'd have risked such a thing unless the western front looked like it did in December 1944, with Germany on the ropes and unable to refocus.
Also keep in mind the rather lopsided tooth to tail ratio of the red army. Without lend lease trucks and fuel, Soviet logistics simply weren't capable of supporting a sweeping offensive into Europe. A significant factor in Soviet strategic planning.
In a remarkable feat of irony, to get a Red Alert style Soviet invasion of Europe, you'd need Hitler in the Kremlin, and Ford to set up shop in the Donbas.