I'm OK with wasps and don't have any problem with them in small numbers. Of course, I wouldn't want to be chased down and stung by them!
I rescued one a few days back when I came out of the cubicle in the public loo and there was a struggling one next to the sink so I took a paper napkin I had in my pocket from being in the cafe 1/2 before and said quietly ''I won't hurt you'' and it slowly walked onto the paper and I walked it outside next to the lamp post in the shade, on the pavement.
It's the females that sting because they have the ovipositor; the males are harmless. I'm not sure if this one was male or female, but I'm glad I tried to save it!
Wasps can't really understand human language, but they have good memories for faces, so if he sees me again, he'd probably recognise me!