If you have accidentally inhaled the vapours, e.g. during a hot cleaning, you do not have to worry. You may experience an irritated cough or a scratchy throat, but this is not dangerous.
As long as you don't inhale the fumes for several hours, you can rest easy. It is best to go out into the fresh air and breathe deeply.
The next time you clean, you can use a breathing mask to prevent inhaling the fumes.