Yeah seems like an asterina. Pretty good at cleaning algae, and can help reduce coralline on glass. But they also sometimes go rogue and start munching on corals, and once they start they don't stop. And they are prolific reproducers, so the best time to remove them manually is early. A lot of people like having them though, most of the time they're ok. Basically, get rid of them now, or take a chance for a pretty strong self-reproducing cleaning crew at some risk to your corals.
I generally try to make sure my cleaning crew is good enough regardless, and I don't want to deal with outbreaks. So the time I came across them in my tank I've gotten rid of them right away (no recurrence since). But if you do have a hostile asterina outbreak, you can get a harlequin shrimp to destroy them. Just keep that hunting echinoderms is what it does. It's all it does. A harlequin will terminate your asterinas, your other starfish (if you have any), possibly your sea urchins (if you have any), and then starve to death if you don't give it more starfish.