Do the mattress covers that say they protect against dust mites protect against bed bugs also?
Dust mites/bed bugs don't look like worms and they are very, very small. It was probably either a centipede or a milliipede. I doubt that having clothes on the floor would have contributed to this unless you have been out in the woods recently looking under dead logs or you tracked in some dead leaves and happened to pick up a millipede on your clothes.
I think bed bugs are dust mites...although, in olden days there were pretty big bugs that did get into peoples homes and only a bat would protect you! Your mattress protector is mostly to help protect against wetness. You can vacuum your bed if you have a detachable hose, that really works best!