Yes they bite!
They have fangs and have a mild venom. Most humans would not really suffer at all. But some people might have a reaction more like a bee sting. There is no way to know just how allergic some person might be. But if you leave them alone, they won't bother you. They do not go chasing humans but if you touch one you might get bit. I would just leave them alone and stay away.
If you raise plants, the plants with attract insects, insects attract centipedes! It is just the way things are.
If you really do not want centipedes, then don't have plants. If you keep the area around the plants clean and tidy, clean up debris and get rid of insects that they feed on, you will have less centipedes.