When I finally finished setting up a new VPS for my side projects, I realized this unknown (at least for me) open port: 6010.
It took me a quick search on Google to find out it was related to the X11 Forwarding feature present on SSH. If you don't need this feature in your server, disabling it is actually very simple.
Edit your SSH server configuration file:
# vi /etc/ssh/sshd_config
Find the line containing the X11Forwarding option and change it to no:
X11Forwarding no
Save the file and restart SSH server:
# service sshd restart
Don't forget to reconnect to server before checking the listening ports again!
# lsof -i4 | grep LISTEN
That's it!