Oh you said it Chelle!! Those little legs hang on tight... & that's what gives me the willies about them! No-likeee!! Last year I pulled dozens of those things off my tomatoes, then I learned to just snip the stem they're hanging onto! There was some night shade growing wild and I kept relocating them over there, because they do turn into rather pretty sphinx moths.
The first time I squished one trying to pry it off, I threw it to the ground, shuddering no doubt. But I was quite amazed at how quickly the ants responded to clean up the mess!! I mean within seconds! Thanks ants!!