RE: An unwanted creature found at home feels like I saw a dinosaur.

... centipedes are a creepy alien like insect.

To be exact, centipedes aren't insects at all (even if both, insects and centipedes) belong the the phylum arthropoda.
Insects always have six legs and a tripartite body (head, thorax, abdomen).
In case you are interested you might continue to read here.