If the infestation is such that it could or is harmful to your children, then, yes, CPS could take your children away until the situation is resolved.  This would be in cases where the children of frequently showing up at school with multiple bites and/or infections from bites.   If it's a minor problem where the kids are not being affected, then they would not remove them from the home.  If you have dogs and the dogs are part of the problem, CPS may require that you make alternative arrangement for the dogs in order to get your children back.