Must I remove asbestos from my heating vents?
It's not really that serious in most cases. In tile or siding, it isn't a hazard unless it is broken down, generating dust that you are breathing. Even then, a lot of tile is like 1% asbestos. If you can get it up without breaking it too much, you're basically fine.

Pipe insulation that is soft is more of a problem. You can probably do it yourself if it's a small amount. It may very well be illegal though. Get a respirator like this http://www.amazon.com/MSA-Safety-Works-817664-Respirator/dp/B0009XW3ZS, take a heavy plastic bag, tape it around the insulation so it's mostly sealed, and then spray it down with water so it's saturated and won't generate dust. Then remove it, dousing with water as needed. Seal it up in the bag and dispose of it lawfully.

I was an asbestos abatement hygienist for 3 summers, and I took airborne fiber readings of thousands of hours of removal being done. Although negative air containment systems were in place on those jobs, I had probably 10 concerning readings out of thousands.

Asbestos is like smoking cigarettes in my opinion. One day isn't going to hurt you. Every day for 5 years will hurt you.