Yeah, centipedes are pretty much all predatory, and I can't imagine they'd be doing any harm to your plants. Some of them do have a very painful "bite", but typically they are going to scurry away from any perceived threat, so it's unlikely you'd have to worry about that unless you're trying to pet them or pinch their cheeks.
They live and feed off all kinds of little critters, flies & gnats, other centipedes, spiders, pill bugs, roaches, and the list goes on. They go into pots because the pots offer a dark, humid, and protected environment that they and many of their prey items prefer.
I dunno how good you are at identifying critters, but if there's any possibility you discovered millipedes instead, those tend to be deteriorates that eat dead and decaying plant matter. They are also fairly common, and prefer dark, humid hideaways.
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