Iterating through a Collection, avoiding ConcurrentModificationException when removing objects in a loop

We all know you can’t do the following because of ConcurrentModificationException:

for (Object i : l) {
    if (condition(i)) {
        l.remove(i);
    }
}

But this apparently works sometimes, but not always. Here’s some specific code:

public static void main(String[] args) {
    Collection<Integer> l = new ArrayList<>();

    for (int i = 0; i < 10; ++i) {
        l.add(4);
        l.add(5);
        l.add(6);
    }

    for (int i : l) {
        if (i == 5) {
            l.remove(i);
        }
    }

    System.out.println(l);
}

This, of course, results in:

Exception in thread "main" java.util.ConcurrentModificationException

Even though multiple threads aren’t doing it. Anyway.

What’s the best solution to this problem? How can I remove an item from the collection in a loop without throwing this exception?

I’m also using an arbitrary Collection here, not necessarily an ArrayList, so you can’t rely on get.