Annelids are segmented worms that include earthworms, leeches, and bristle worms. They are divided into three classes based on characteristics like the presence of bristles. Polychaetes are bristle worms that live mainly in marine environments. Oligochaetes include earthworms and live in soil and freshwater. Leeches can be found in freshwater or terrestrial environments. Annelids have bilateral symmetry and segmented bodies, and most reproduce sexually. They play important ecological roles in areas like soil enrichment.