Smartmom, why would you want to kill butterfly caterpillars? The parsley is a host plant--that means the swallowtail butterflies lay eggs on the parsley, the eggs develop into caterpillars that go through a growing process, and then become butterflies.
Parsley, dill, and rue are great butterfly host plants. Butterflies are also pollinators, so killing them off means you are eliminating pollinators.
People are planting butterfly gardens and incorporating parsley, dill, rue, and other butterfly attractive plants.
Do not remove and kill butterfly caterpillars. What you lose in parsley or other plants is more than made up with the beauty of having butterflies flitting about your garden.