The research I've done on them seems to point towards them being beneficial to the tank but when they reach a legth of 10" or more they can go after corals and even sleeping small fish. I typically yank out the larger ones when I find them.
You can buy a bristlworm trap or make one yourself using a 20 oz soda bottle. Heres the basic jist of creating one. This one uses a 2 litre, but a 20 oz will wrok just as well.
All you need is a CLEAN plastic soda bottle. Cut the top off the bottle at the point where the neck becomes the same diameter as the bottle
Then turn it around and hot-melt glue the top back into the bottle in reverse (you can do the same thing with a funnel, but it's more expensive and harder to get "just right."). You'll now have a slanted neck into a small hole which is easy to get into, but difficult for the animals to escape from (especially if you use clear plastic). Simply fill the bottle with tank water, add a piece of tasty bait (such as squid, shrimp, or clam) into the bottle, and leave it on the bottom of the tank overnight. This handy trap works well for mantis shrimp also. If you don't plan on using the trap for an extended period of time, or the critters you're trying to trap are small, you probably don't even need the hot-melt glue (the tight fit keeps the top in place), but I've had one fall apart on me while I was lifting it from the tank, and have used a couple of small blobs of hot-melt glue "just to be sure" ever since.