I've been told that actual dental picks made from surgical steel are bad to use on firearms because of the quality of the steel can easily scratch the finish and pit the metal of a firearm. I also have an issued cleaning kit for an M4/M9 that has blunt aluminum picks, with flat tips but probably .05" diameter, and they do the trick without scratching finish (with a gentle touch) or pitting the metal. Again, dental picks are probably fine if you use a very light touch. Brass brushes and implements should work well, as they are a soft metal, also.
Q-Tips tend to leave fuzz, especially if you are cleaning an AR lower or something with spring ends that will grab the q-tip. I would recommend pipe cleaners in place of q-tips for those hard to reach areas.