Spray with a little WD40 (exact what AustinV said), wait 10 minutes then it should just wipe away. Also good for preventing.
If that doesn't work, use a fine metal brush and then some flat black paint and its gone.
Its very common for tow hitches to rust, especially around joints/corners or where rubbing has occurred to expose bare metal. As long as its only surface and hasn't penetrated into the metal, its not a problem.
I have the stealth/removable tow-hitch, which has a hidden coupling under the rear bar. This has a plastic filler-module that fits into the coupling when the tow-hitch is not in, stops water getting in and rusting the coupling.
Another advantage of hidden/removable tow hitches, less wear and tear on the tow hitch.
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