Depends on who you ask. Im pretty sure they eat poo. Some hate them, some let them be. If I see them I take them out only because they look like creepy water centipedes.
+1 on the bristle worm. IMO they're part of the clean up crew. Try to avoid touching them, their bristles will get stuck in your skin and it burns when it happens. Not the end of the world but its one reason why I wear gloves when working in the tank.