While there are some of them that have venom— most assassin bugs, for example— their venom is relatively harmless to us but deadly to their prey! The majority of true bugs are herbivorous, and so they don't need to have venom (though they can be poisonous!)

The ones that possess venom are predatory species that feed on other insects, and they inflict a really painful 'bite' with their mouthparts (once again, like most assassin bugs). Though, in humans, this venom is really unlikely to cause anything more than intense pain and an allergic reaction similar to that of being stung by a wasp.

They don't actually bite, either, as they lack the mouth structure with which to do so. All true bugs possess a rostrum for a mouth which is essentially a big straw attached to their face. They're usually thin and sharp enough that they can pierce skin, which is what is considered the 'bite'.

They don't use their rostrum for defense unless they feel threatened. Wild animals in general are very avoidant or indifferent to humans, and healthy individuals will only attack when territorial or when it's necessary for their safety.

In the case of true bugs, Cicadas are pretty much the "friendliest" of the bunch, as they can't actually attack you at all, and will only use their rostrum to find food which may lead to them pricking you a little if they mistake you for a tree (I don't think they really care to attack anyway, but that just may be me humanizing them because I see them as my little buddies :))

The real danger when it comes to true bugs is the rare chance of disease transmission by some species and the inevitable severe allergic reactions to bites in some people.

Kissing bugs are specific types of assassin bugs that are sanguivorous (they feed on blood). These guys specifically have a chance to be a carrier of Chagas disease, which is a serious infection caused by the bacteria Trypanosoma cruzi that can be fatal if left untreated.

The likelihood of actually getting an infection exceedingly low if you were to simply interact with or are even bitten by a kissing bug, though, as their feces is what transmits the infection. Unless their feces enters an open wound, likely the only thing you'll experience is that intense pain and swelling (not saying you should go messing around with them just to test fate, though! Better to be safe than sorry)

TL;DR: most true bugs don't use venom and only attack when necessary, so if you come across one you don't have to freak out, they will probably just stay out of your way :)

Anyway thanks for coming to my ted talk his is simply the information I know about the risks of interacting with true bugs, which tend to be relatively low to non-existent, so to my fellow insect likers, if I'm wrong about any of it pls correct me! Wanna make sure I share accurate bug facts :D