Confirmed on Asterina sp. The brown/tan ones are usually harmless, although they can multiply to annoying numbers. They reproduce by fission - they tear themselves in half (which is why you sometimes see them with some short arms and some long ones.)
Usually the coral munching variety grow a bit bigger (to about dime-size) and they usually have little patches of red and/or blue on them. They are more rare than the tan/brown variety, which is what you seem to have.
If they bother you, take it out. If not - let it be. In the event you get overrun, a temporary single or pair of Harlequin Shrimp will get rid of them for you - but be prepared to rehome the shrimp when you run out of stars as Harlequins are exclusive feeders.
Jenn