I have never removed a bristle worm from my tank, They are good scavangers, I had a 3 inch fish die once, My wife told me she saw it on the sandbed, i went downstairs aprox 20 min later to get it and it was completely wrapped by bristleworms, aprox 45 min later no fish, so they do help, however if I remove a rock from the tank and there are worms in it, i remove them at that time with tweezers, DONT TOUCH IT!!! nothing worse then using superglue and tape to remove hundreds of bristles from your fingers.
Ill see if i can get a pic of some dead or dying feather dusters , its litterly identical however Ive never had a peanut worm either.