Those are palythoa... and do have palytoxin. It is best to cut the underlying rock with shears. I've cut those exact palythoa underwater off my rockwork as well and like me you will undoubtedly do some damage to the polyps. The toxin will be in the fragments of the paly that float free and if it lands on a coral it can damage it by burning lil holes in it. It's not like a venom that is stored inside in liquid form that will burst forth or anything. So just don't let the broken pieces hit anything in the tank.
My advice is to:
1. Cut your pumps so pieces don't float around
2. Cut the palys off by clipping the rock underneath
3. Siphon the area out with a hose afterwards to get any stray bits that fell