burn mark on coffee table

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My son left three lighted tea light candles on my coffee table. There are now three burn marks. It appears that the damage is to the varnish and not to the wood. What is the best method to remove this burn mark without leaving scratches in the grain? I have seen suggestions such as mayonaise, tooth paste, light steel wood. Can someone give me good advice that will solve the problem and not damage the table.
Thanks from my son.