The police will not remove him without a judgment of possession. You have to file an unlawful detainer complaint against your "friend." When you get a judgment the sheriff or police can lawfully evict him.
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This isn't a criminal matter, it's a civil matter, and you have to legally evict this "friend" for non-payment of rent. Please see the "how to" guide linked below, or hire a lawyer fro help.
Disclaimer: Please note that this answer does not constitute legal advice, and should not be relied on, since each state has different laws, each situation is fact specific, and it is impossible to evaluate a legal problem without a comprehensive consultation and review of all the facts and documents at issue. This answer does not create an attorney-client relationship.