Steven Universe: Monster Reunion Season 3, Ep 14
Steven uses his healing powers to help out Centipeedle.
Steven Universe: Gem Glow Season 1, Ep 1
The first episode. Steven's mourning of the discontinuation of his favorite ice cream sandwich intersects with an attack of "centipeedles."
Steven Universe: Monster Buddies Season 1, Ep 23
Steven accidentally releases a centipeetle from its containment bubble and discovers a softer side to the acid-spewing arthropod-shaped thing.