Being exposed one time to asbestos can sometimes be harmful.
However when people develop mesothelioma it's usually a result of long term exposure to asbestos over many years of working around asbestos or being around and breathing in asbestos.
Usually people don't develop mesothelioma until 20 or 30 years later in life after being exposed over those years to the asbestos.
Still if you need any asbestos removed it's best to have the asbestos removed by a professional to prevent getting exposed even a little bit to the asbestos.