The main benefit of putting HTTP server is the ability to use URL routing.
See, when system matures it rarely ends with a closed set of services. They usually expand, different technologies come into use for different parts of APIs as the time goes.
URL routing allows to cover this up, routing legacy APIs to older services and newer APIs to new services.
Another important usage of HTTP server is DDoS mitigation. Usually it has more power when it comes to collecting access statistics and applying black lists.
SOA without HTTP server is not elastic and potentially vulnerable. Hence the general recommendation to put HTTP server first.