There’s a fairly decent non-technical guide to the 31 invertebrate phyla here: https://www.thoughtco.com/types-of-invertebrates-4106646
It has pictures of representative species and a general description of ecology and where they’re likely to be found (e.g., parasites, marine, terrestrial, …). And yes, a lot of them have “worm” in their common name even though they are not what we may think of as “worms.”
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