If you are lacking contrast on negative, you should perhaps develop more. Try developing 20% longer time and see if you like that better. Yellow filter will give you more contrast only in certain situations and not by much.
Yes, you can bump up the contrast when you print but it works differently from using filters when you shoot.
When you use filter when you shoot, you attenuate certain color onto your B&W film. In other words, your film sees less light on certain color. You aren't really changing contrast but if you are looking at sky or anything blue for example, it gets darker so it sort of looks that way for that color only. It's a bit more complex than that but I'm making it simple for explanation purpose.
When you use filter when printing, you take whatever the film recorded and manipulate the contrast. It no longer involves color.
My suggestion would be to get rid of the filter when shooting UNLESS you want that effect and develop a bit longer. Then try printing straight with #2 filter or no filter at all.