All polychaetes are "bristleworms". Poly means many, chaete means bristle. The fireworms belong to one family of bristleworms known as the Amphinomidae. The one in your pics is an Amphinomidae, probably in the genus Eurythoe. Harmless as Mike said.
If you only handle them for a little while they won't hurt. Just be careful when moving LR around I had about six of them climbing down my wrist once and YEOUCH! Wasn't something I want to relive
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