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Astera starfish debatable on good or bad. If they eat your coralline algae they are bad, if they don't they are just fine. Keep an eye on them they multiple quickly.
You can if you want to, if I start seeing a bunch during a tank watching I may pull some out but I do not look at my tank looking for them. They shouldn't eat anything but algae, different types of algae. Your polyps and dusters should be fine.