I've seen a few of these from time to time (this is recent though, usually only see one a month, sometimes two.) The bugs look like a fuzzy left from some clothes, but I'm paranoid about bugs and of course always examine closer and I noticed that it was moving (very slowly) and is hard (I haven't directly touched it with my hands, but it looks relatively hard if you know what I mean?) but with things sticking off it that makes it look fuzzy. Most of it is black (maybe dark brown?) but the middle section is white or yellowish. They're cylindrical shaped and very tiny.

Around 6 or so months ago, I had a carpet beetle infestation, we cleaned my room and got rid of all of them. I didn't see any more carpet beetles after that. I've been seeing the new bug since around then. I don't know if they've been there the whole time and I haven't noticed (I pay a lot more attention to things that 'might' be bugs after the carpet beetles.)

I don't have any bites or itching, I don't know if the bugs are harmful, but I still want to know what they are and how to get rid of them. Please help me!

Without a picture we'll have to go by a process of elimination to identify your bug.

The first thing that comes to mind from your description is a caterpillar. Here's a pic of the "Wooly Bear" caterpillar. Do they look similar?