Hello. I repair consumer electronics professionally. The presence of corrosion is not to be taken lightly. Usually, you have to be afraid that you are not seeing all of the corrosion, and there may be much more out of sight. But if it is just a small amount of corrosion, and doesnt look like the board still has the substance which caused it, then yes, cleaning it is a great idea. At work, I use de-natured alcohol and Q-tips. Rubbing (Isopropyl) is probably fine too, just use the strongest solution you can find, preferably over 90%. Because any rubbing alcohol solution less than 100% contains the remainder as water, which, leads to corrosion.
Also, make sure it is dry, and using a brush (probably not a metal brush) is a good idea too, as you want to clean it up as much as possible.