If you want smooth concrete then they have to be scraped up and the mastic removed. Most any contractor can do that. They just spray them with water to keep down the dust and wear dust masks.
If you want the whole production with the plastic curtains, air filters and monitors and guys wearing silly looking hazmat suits, you will pay for that show to accomplish the same thing.
In Maryland, contact A1 Whitakers Asbestos Removal out of Baltimore. 443-876-5377.
Ask for Sharron Whitaker. Tell her I sent you.