Marko: your bug appears to be a leafhopper.
sharpshooter-leafhopper.jpg If so, unlike a grasshopper, it doesn't chew the plant/fruit, it sucks the fluids.
Farmette: If the birds don't find them first, the fastest, cheapest and most yucky method is hand-picking.
TomatoHornWorm1.jpg BUT, be careful, catch him behind the head (as you would a snake (ha-ha)) because if you give him enough room to turn, he can reach around and give you a good pinch. You can then pull him off the plant (he'll put up a struggle) and dispose of him (he won't survive a swift descent to the ground).
TomatoHornWorm2.jpg