I’m pretty sure all centipedes are venomous. Certainly all the ones here in the mid-Atlantic US states are! They don’t really bite or sting - instead they have a pair of specialized front limbs, called maxillipeds or “poison claws” that are connected to a venom gland at the base. The bigger the centipede, the more painful the bite. Your average house centipede probably hurts about as much as a bee sting, though, so that was a very apt comparison!
