Put the candlesticks in the freezer for an hour or so. It should pop right off when you go at the wax with your fingernail.

Pop off the big chunks using a wood toothpick if necessary. Then heat the remaining wax with a hair dryer and wipe off.

Have used the hairdryer once before on a glass top table and the base of a lamp and it worked like magic!

I boil my brass candlesticks. Ditch the felt on the bottom...if necessary get some of those peel and stick things to protect your table. But surely you will use them again....and surely they will drip again.
I have 3 groupings fo brass candlesticks that I burn often. When they get more wax than I can pop off with a toothpick or by freezing, I boil them in a disposable aluminum roasting pan