Remember, if you do remove the asbestos insulation on your steam pipes you absolutely have to replace it with fiberglass. Also all the piping near the boiler needs to be insulated. Get the book “Greening Steam” if you have any questions about efficiently operating a steam heating system. Assuming it is a steam system.
It’s better to encapsulate the existing asbestos and leave it in place then to take it to the dump but I’m not sure what it does to your resale value. I have the same situation and I’m just putting off doing anything. 😉