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That it true to a degree. For example, you could say "Эту книгу нельзя прочесть/прочитать", and that would mean that it is impossible to read (although I would prefer to say "Эту книгу невозможно"...

Мне нельзя читать эту книгу -- this is good Russian, and it means "I may not/am not allowed to read this book". "Нельзя" means that something is either prohibited by the rules or mores, or that it...