Looks like a Pseudocorynactis spp. of some sort, most likely a Pseudocorynactis caribbeorum. Some people see them as pests similar to majanos. I've had two that appeared on live rock out of seemingly nowhere after over a year. They have sticky tentacles with nematocysts, so they pose a risk to corals and other sessile inverts. The ones I had didn't bother anything, but they were very small and lived in a hole on the rock. They typically extend their tentacles to feed, and when fed if I remember correctly they can grow quite large.