This is correct. The only thing that is regulated is the disposal (at least in WA) - otherwise home owners are legally allowed to remove it themselves as they see fit. Not that I recommend it if you don’t know what you’re doing, but you won’t get a fine.
Source: am homeowner who (with saftey precautions such as a tent of 3 mil plastic, negative airflow, HEPA shopvac, soap and water, and a proper respirator) removed asbestos tape from my duct work.