you need to loop through the array holding the refs and de-ref the bits you want to print...

print "$_->[0]\n" for @arrayrefs

# or map may be your friend

print "servers: ", (join ", ", map {$_->[0]} @arrayrefs), "\n";
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BTW you can also get rid of the intermediate array @servers by just throwing split straight into an anonymous array

   push @arrayrefs, [split(/,/,$_)];
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Cheers,
R.