cleaning pipe after job is complete

Last weekend I replaced my galvanized supply lines. After reading several threads on this forum, I'm convinced that I need to go back and clean off the residue that I left behind after soldering.
I've found several different opinions about the best way to clean the pipes. Is there a cleaning solution that works best? Is it overkill to use Goo-Gone (citris based cleaner)?
Overall, I just want to avoid anything that could lead to corrosion (including the mess currently on my pipes).

Just take some dry rags and wipe them well.