Question
what are these type of worms and why are they in the soil, also should i get rid of them?

Answer
Hi Lisa, Centipedes like to live in moist soil with decomposing organic matter which is rich in food for them.  They will sometimes tunnel soil out the drain hole, but they're not harming your plants.
There are some insecticides you can use to kill them or just set the pot in warm water up to the rim for a couple of hours and usually they'll come to the surface or drown.  Jim