I don’t know what those are called but they’re harmless little filter feeders. They’re good for the water. The little bug was likely a copepod or amphipod. Both also good for your tank. They are a natural part of the cleanup crew that thrive in established tanks. They usually come via hitchhiking on live rock or corals. They are a natural food source for fish and some fish like the mandarin goby will ONLY eat those. All signs your tank is maturing.