Short answer, while I would recommend you rid yourself of your millipedes or centipedes, which ever they are, these things aren't in and of themselves a danger to your collection.
I don't personally like centipedes indoors. Some of them can give you a pretty painful bite, others like the long-legged house centipedes aren't likely to bite you, but they creep me out. When these kinds of predatory creatures make it indoors, there's always a risk they'll end up in bed with you, and how would you explain that to your family?
Millipedes are completely benign, detritivores, though some people swear they'll nip at root tips. Either way, even the smaller sized species are big enough and can form big enough colonies that I generally don't let them stick around long.
In both cases, it's easy enough to flood them from the pots if you don't have large amounts of plants. Otherwise, you'll need to treat with pesticides, generally anything that works on insects/spiders/mites will work on centipedes and millipedes.
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