Bristleworms in tank - good, bad, indifferent?

OK so those who have been following my saga know I'm about a month in
to my setup. It's been running well with a few snails and crabs added
just a couple days ago. Algae seems to be getting under control as
they do their thing.

Now a new thing has arisen. I was staring into my tank yesterday and
noticed some movement by one of the live rock chunks. I was shocked
to see about 6 inches of what looked like a centipede sticking out of
the rock. Did some research and determined him to be a bristleworm.

Now, the question. What do I do about it? Nothing in there for him
to scavenge as there's nothing dead in the tank. I've read a ton of
articles saying they are a good thing because they keep the tank
clean, and I've also read a ton of articles saying they are a nuisance
and should be removed. Which do you folks believe to be correct? If
removal, what process do you suggest for doing so (I know I cna't just
reach in and grab the thing...and truth told, he's creepy looking, I'd
rather not go anywhere near him if I can avoid it)?

Mitch