This is the best picture I can come up with. I suspect that it may be a Chocolate Chip Star. This little guy is probably in the area of about 3 to 4mm in diameter.
I think it's an asterina, too.
Some people pull them out because they can reproduce pretty quickly (and become a nuisance).
I have a dozen or so in my tank (that I've seen). I've never had a problem with them.