If making homemade pesto, place all of the ingredients for the pesto into a food processor and pulse until creamy. Taste and adjust, if necessary. Set aside.Heat the oil in a medium skillet over medium-high heat. Once oil is shimmering, add in the asparagus and season generously with salt and pepper. Cook for 5-7 minutes or until asparagus is bright green, fork tender, and is browned.Meanwhile, spiralize the zucchinis and place in a large mixing bowl. Pour over the pesto and toss well. Set aside.When asparagus is done, toss it in the bowl with the pesto zucchini noodles and toss well to combine.Divide the pasta into bowls and serve.