Don't panic.
*Thoroughly wash all your bedding.
*Vacuum thoroughly.
*Treat your dog and cat with Advantage from the Pet Store/vet ensuring that you have the correct strength for your pet's weight.
*Thoroughly wash and clean their beds out and all areas that your pets sleep, lie etc...
*You can treat carpets with flea powder and then vacuum it up.
*You would only use flea bombs if you were certain that you had a very bad infestation. You've seen one flea...
Please don't just chuck your pets out of your house, there is no need for that. However do not let them on your bed or furniture.