First, don't panic. Most bristleworms aren't the boogeymonsters we used to think they were after all.
As for removing them, well, there are many methods available, and you'd be hard pressed to pick a "best" one.
There are little traps you can use to catch them, or some fish which will eat them, or things you can physically do to your rocks to remove them, but they're all a big hassle and usually more trouble than they're worth. However, if you have a really bad infestation, you could probably have the best luck with trapping. Put a wad of freezdried krill into a ball of pantyhose. The bristles get stuck on the hose when the worms try to get to the food, and you can usually yank them up with the hoseball before they can get free.
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