How do I polish brass with household ingredients?
You can soak the candlesticks in vinegar, then scrub.
If you want a little more aggressive treatment, dissolve some salt in the vinegar. That'll generate a little hydrochloric acid, which'll take the pH down a bit and clean more quickly.
Some folks swear by a paste of vinegar, flour, and salt. I've never used that mix. I've never had to.