If they are in there they will multiply. As to the question if they will hurt anything im not really sure. Had them in my old 90 gallon tank and they were all over the place! I got a pair of harlequin shrimp to take care of some of them.
Take them out. We let them be and they just kept multiplying. Then started eating zoas yes they can be a good cleaner but they can also cause issues to coral so I remove them.
I have always had a small amount in my tank, mine don't get out of control or bother coral bit several other people get issues from them. What I do have millions of is mini serpent starfish, there must be ten million in my tank.
They eat coralline algae (the purple pink algae on your live rock) I have also heard that the ones with the red on there back have been known to eat Zoas..
Thats the same ones ive had in my tank for over 2 years now. Never had a problem with them bothering corals and mine havent multiplied out of control. The Red Asrerina Stars are the ones to worry about. So removal/keep is up to you.
Oddly enough, since I removed the dwarf angels from my 75 (( tired of my corals being nipped at all the time )), I have noticed them. Nothing has been added to the tank that would have brought them in, so I have a feeling that the dwarfs were keeping them in check.