No one can have a plant grown outdoors in Florida in a pot sitting on the ground and not get bugs in it. Sorry, just saying. Just be happy it was a harmless centipede and not an infestation of Carpenter Ants. Or worse yet a baby rattlesnake curled up in the pot LOL. It seems a couple people get bit every summer in FL nurseries from snakes in pots.
This is why they do not want people to be trading plants over state lines. Bugs hitch hike. In Florida, in order to be certified nematode free, all the plants have to be bench grown at least 4 feet above the ground, with soil components that are stored at least 4 feet above the ground, in containers that are also stored at least 4 feet above the ground. Then your stock has to pass random soil sampling...if one aggregate fails, everything fails.
Its silly to consider tossing a plant or replacing all the soil for one little centipede.