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What is this hitchiker? Looks like a fireworm due to the glass hair spines but its too short to be one
and the belly looks like a suction cup type deal similar to abalones
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Chiton, a sort of segmented snail/limpet and safe to have in the tank, they eat algae.
I don't think any chitons are venomous, I think they're just prickly protrusions - most chitons have some form, but usually they're shorter and less organized looking.
While perhaps it's better not to test your luck, I think a lot of spike looking things aren't actually durable enough to really do damage to us.