Larvae Or Catepillar

It is difficult to tell you exactly what it is, but it looks like a type of larvae. Suggest you hand pick them off your plants (but wear protective gloves) and spray the plant with an insecticidal soap to take care of any you might miss. However, be aware that this could also be the caterpillar/larval stage of a pollinator such as butterflies/moths and just because it may eat some foliage, pollinators are beneficial for our gardens. If you still have the caterpillar/larvae/worm, it is best to take it to an entomologist at your local natural history museum or university for confirmation of its identity in hand. To identify whether or not it is toxic should be done in hand rather than by a photo. Again, as a safety precaution, wear thick, protective gloves when handling.