Bristleworms are our friends. They are part of the cleanup crew.
Actually, if your tank is not too old, we might wonder how they got to be full grown so quickly. What kind of food source could they have? Lots of uneaten food, lots of detritus, too many dead and disappearing fish or inverts?
I once had some very large green ones I didn't like the look of so I removed them.
They can be caught with a piece of seafood wrapped in several loose layers of bridal veil material and dropped down on fishing line. When they crawl partway into the bundle pull them out of the tank. But don't squeeze them with your fingers, because the white fuzzy bristles are irritating and hard to remove, sort of like porcupine quills!