The difference between centipedes and millipedes actually has to do with how many pairs of legs they have per body segment. Centipedes have one pair per segment, millipedes have two pairs per segment. The centipede with 354 legs is indeed a centipede (: the millipede with the most legs actually tops out around 750 legs! Pill *millipedes seem to be the smallest millipede with only 14-42 legs!
Also, if you google pics of centipedes, there is indeed a species with terrifyingly long legs just like this picture, the house centipede.