Small pimples on my testicles and up my penis, some of them has hair coming out of it, some don't. How do I remove it?! it irritates me a lot.

Most likely, skin... Most likely, those described pimples are overactive sebaceous glands which are harmless although occasionally it may get infected like facial acne. Don't irritate them such as compulsive shaving and soapy washing, etc. Meanwhile, you may try thinly applying 0.5-1% Hydrocortisone cream hoping to ease discomfort and watch for 1-2 wks. If not better, see doctor timely.