Well, not really. If you can see in the photo, these guys have lots of hairs on their appendages, and hooks, which are used to tightly grasp onto their coral. You can take a syringe and blast them, and some (caught unaware?) get dislodged, but others, no matter how forceful, stay firmly adhered. This means they can get around prettty well and largely stay out of the reach of the polyps. This is why I mentioned they seem to be found on species with some "walking around" room on the coenosteum. Obviously from the post abotu A. millepora, this may not always be the case - sigh, always exceptions!
In your coral, this is pretty common. I have a hunch, though, that a lot do get eaten and a gut analysis would probably tell the tale I could probably do that if I run across another colony with bugs sometime. I haven't had one to work on in a few months.