1. I really would like to get a pleco or a similar fish. Which particular kind is suitable for an 84L (24USG) planted community tank?
Yes there are a few plecos that can work in a 25g tank there are some absolutely gorgeous plecs that stay small for you to keep. A good place to look is http

/www.planetcatfish.com/catelog/numbers.php?mode=l&thumbs=16&start=240&genus_id=0 full list of all the L numbers good pictures and a size guide have a look and see. I would look for plecs that max out at 4inches or smaller.
2. I understand a common pleco would be too big for that. I've heard of Ancistrus, would that be a better choice? Or perhaps even something more suitable?
Yeah commons are far too big but unfortunately available

. Ansistricus or BNs as they are known are readily available but various species mean that the size range is between 4-6 inches. But like I say there are tons that could work for you it just depends on what look you like, for example which pattern or colour, fin shape, body shape and behavior.
3. As I understand it, plecos poop a lot. Do they really? Does their cleaning benefit outweigh their polluting contribution?
Yes yes they do poo a lot

. Depending on the species they wont really clean up much they might graze on algae but might not clean it. Some plecs are carnivious so wont even touch it. I agree with other posts get them because you enjoy them, they are a responsibility in the aspect that they are messy so really take up your stocking list.
4. I have sand. Is that suitable for a pleco?
Sand should be okay, they might toss it around a bit but as long as it is well washed I imagine it will be fine, I have gravel at the moment but I want sand in my new tank. I've not heard of plecs and sand being bad other than it shows up the poo badly, but if you have cories them zipping about will break it up and it should get sucked up by the filter.
5. Is there any benefit in getting a pair?
It depends on the species some are intolerant of others, others are quite gregarious. At the moment I have just singles but on reflection I think I would have preferred a group but that is just me. Most plecs are not easy to breed but if you want to try to breed them there are some that are possible in community tanks.
Plecs are as diverse as tetras and cichlids. Have a look through the L number library and see what you like

It should be able to help us help you make a good decision for your tank
Wills