Nope!
Ackshually, it stings, its forcipules aren’t a part of its mouth 🤓
But when it comes to humans, it’s in reaction to a threat (someone mentioned being stung by one that hid inside their slippers: put yourself in the numerous shoes of a centipede, cornered by a giant fleshy thing invading the cozy place you just found…)
It would rather flee otherwise.