You're right, it's duplicate content. I wouldn't use any Google removal tools at this point. Keep in mind that once you use the Google removal tool the URL will be removed for 6 months, and you probably don't want that to happen.
Most likely the duplication is due to links. Somewhere Google found a link to the www version and the non-www version. So, it indexed both. And, to further complicate things, they found two different title tags on those two pages. It could be a coincidence that they visited your site once before an update to your title tag and once after you updated your title tag, but I would check to see if there really are two different versions of your site. If not, then I wouldn't worry about it.
One thing you can do, though, is set up a 301 Permanent Redirect from the non-www version to the www version of your site and that should take care of it. You can also make sure that the links on your site always point to the www version--don't use relative links. Also, see if you can find links to the non-www version and fix them (I would use MSN to check the backlinks to your non-www version).
If you truly have duplicate content on the non-www version and the www version of your site (which is usually the case) then Google will usually figure these things out. Like I said earlier, the issue came up when they found two versions of your title tag.
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