Interesting - we don't have those critters here - I probably would have thought it strayed into the house and put it outside, where likely it would have perished (hard freeze this morning)
I'm sure you are not going to kill it's relatives, now that you know who they are :)

Was it this guy? I think it's probably a draw... as long as the idea of waking up with one on you is OK with you. That's what would have me smashing it. Way too fast to catch & release outside.

Yes, that's the one. They once in awhile come in when the back door does not fit tightly because that corner shifts slightly, depending on soil moisture.
A spider is a snail compaired to those guys.

There are such things as "house centipedes"? Good grief, I don't care what they eat, they would not be welcome in my house. Yes, to your question " Should I have done it?"

Eww!!!!...Stomp!!!!
If you have enough other critters in the house to support their existance...you indeed have problems.

I had a colony of shrews a few years back....the shrews and their food source are now gone...I hope!!

House centipedes are 'fairly' common visitors in my house at certain times of the year. Can't say that I'm thrilled about it because they always seem to end up in the bath room...even in the shower. That does NOT make me happy! Better than a spider in the shower, though.

They come and go with how much moisture we have, it seems and with the seasons. Particularly on the shower curtain. It's a 200 year old house with triple course brick walls, both on the interior and exterior, that means a dead air space for three stories from the cellar up. It's part of living in a house this old, in the country. I imagine they are after the spiders, who are after something else. I don't have cooties, fleas, roaches or bedbugs, so I'm not complaining. It's just the predatory chain of command.