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For boot heel marks and other misc melts: 1) get the exhaust warmed up 2) dap on some "Easy Off" oven cleaner. Won't hurt chrome, but don't get it on any other bike surfaces 3) work the crud off with something fairly soft... I use a wooden popsicle stick or a wooden chop-stick 4) when pipes are cold again, buff with a little chrome polish.
Looks like where a Road Gremlin tried to get on your bike and it melted him.
Have someone give you a Gremlin Bell. You can't just buy one for yourself, it has to be a gift.