SELECT (sub)queries return result sets. So you need to use IN, not = in your WHERE clause.
Additionally, as shown in this answer you cannot modify the same table from a subquery within the same query. However, you can either SELECT then DELETE in separate queries, or nest another subquery and alias the inner subquery result (looks rather hacky, though):
DELETE FROM posts WHERE id IN (
SELECT * FROM (
SELECT id FROM posts GROUP BY id HAVING ( COUNT(id) > 1 )
) AS p
)
Or use joins as suggested by Mchl.