Depending on how you define "human", humans have been around for around 100,000 years, maybe longer. However, we have only been doing things like growing crops and building houses and granaries to store them in for 10,000 years at the most. Up until about 100 years ago, it was pretty much just part of life that bedbugs, termites, cockroaches, houseflies, moths, mice, rats and the like were in those homes, and often in that food. Houses were warmer, drier, and often less dangerous than the outside world, and this was true for insects and rodents no less than for us.
In the last century or so, however, we have become more and more attached to the idea that everything other than humans (and a few invitees like cats and dogs) needed to stay Out There. So, when they were found to be nonetheless In Here, in our homes, with us, there was not just the sort of annoyance at their thieving or perhaps grotesque behavior that our ancestors no doubt had, but also a bit of existential horror at the thought that the outside world can cross our threshold. The late 20th and early 21st century denizen of the advanced economies of the world, tends to react with horror and/or anger at the realization that there are other animals taking up residence in our homes. There are exceptions, of course.
Richard Jones appears to be one of those exceptions. He relates what is known of the history of scores of different kinds of vermin, and in many cases throws in anecdotes from his own experience discovering them in the places he has lived. One gets the impression that these discoveries were greeted with not so much an "Aaaaugh!" as an "Ooooohhh!" The dedication mentions a certain Catherine Ure who has put up with this kind of thing from him for a few decades now.
To be sure, he doesn't just mention personal experience. In the last ten years or so, we have begun to learn a bit more about the history of many of these species, through gene sequencing. In some cases this has revealed what species they split off from, a millennia or ten ago, and what they were doing before they started infesting our houses, barns, or granaries.
In many cases, because they have to change as we (or our homes) change, reading about the biology of these uninvited guests, tells us a bit about how our own lives have changed. When we changed from dirt floors covered with rushes (swept out every few months, perhaps) to floors covered in wood or stone with rugs thrown over them, and then changed again to carpets, it changed which kind of creepy crawlies we had down there by our feet, and how many of them were there. Even if you're not interested in insects or rodents or birds, particularly, Jones makes his book readable and entertaining by telling us how these "guests" lives have changed as ours have changed.
If you're more than a bit squeamish about insects, in particular beetles, then there are a couple parts of this book that may be difficult for you. But even if you are not, like God, "uncommonly fond of beetles", this book is an entertaining tour of just how many other species are living with us, and how.