Centipedes are actually good to have around. Here's why:
* They breed slowly compared with other bugs. Typically they have one egg a year, and live longer than typical bugs (6-7 years), so population doesn't suddenly go crazy if the conditions are right.
* They typically stay out of sight, since they don't like bright light or noises.
* They eat the other bugs that you don't see. For every centipede you see, that's literally hundreds of other bugs that you won't have to deal with.
* They are harmless to humans. They'll creep you out but that's about it.
When I do see them in a basement area I typically leave them alone. The only time I have killed them is if they wander up into the kitchen area or in the bathtub / sink.