We need to be worrying more about smaller ones than we have been:

Simulations show that the material of an incoming asteroid is compressed by the increasing resistance of Earth’s atmosphere. As it penetrates deeper, the more and more resistant atmospheric wall causes it to explode as an airburst that precipitates the downward flow of heated gas.

Because of the additional energy transported toward the surface by the fireball, what scientists had thought to be an explosion between 10 and 20 megatons was more likely only three to five megatons. The physical size of the asteroid, says Boslough, depends upon its speed and whether it is porous or nonporous, icy or waterless, and other material characteristics.

“Any strategy for defense or deflection should take into consideration this revised understanding of the mechanism of explosion,” says Boslough.

We really need to become much more spacefaring to be in a position to do anything about this, and ESAS doesn't cut it.