Set grill at medium/high heat.
Cut lemon in half and place lemon and corn on grill.
Brush lemon and corn with olive oil and grill on all sides until slightly browned.
In a large bowl, cut kernels off of cob and squeeze juice from grilled lemon slices on top.
Add in salt, pepper and a drizzle of olive oil and stir to combine.
Add in arugula and mix together.