looks like a House Centipede to me (like the first pic)
I think Centipedes are kinda cool actually
*edits to add that I remember the first time I saw a Centepede. I was in grade-school on a field trip to Natural Bridge Caverns in Central Texas. I was with a friend of mine. We had just been thru the caverns with the class and were walking around outside the gift shop waiting for everyone else to finish looking around before heading back. We saw it crawling around on the ground and freaked out. We were so freaked out by it we went and asked one of the workers what we had seen, but we could barely even describe it It looked like the one on the bottom pic.
if you don't want to make a mark on the ceiling you could stick a glass over it, the slide a piece of paper underneath to catch it in the glass, then throw it out. I don't know if it's small enough to do that though. Centipedes are scary , I'm glad we don't have many out here. i've only seen one a couple of times and they were really small.