Looks to me like some sort of Nudibranch...but maybe those are just a type of flatworm.
Seems to me that if you've had it for 3 years and never noticed it doing anything objectionable...why wouldn't you just put it back in the tank? Cool critter in my books.
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400 gal reef. Established April, 2007. 3 Sequence Dart, RM12-4 skimmer, 2 x OM4Ways, Yellow Tang, Maroon Clown (pair), Blonde Naso Tang, Vlamingi Tang, Foxface Rabbit, Unicorn Tang, 2 Pakistani Butterflies and a few coral gobies
My Tank: http://www.canreef.com/vbulletin/showthread.php?t=28436
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