Only way to tell is to do a test.
Asbestos is not harmful unless it is in airborne dust form, where you can breath it in. So long as it has a good coat of paint over it there is absolutely no danger.
If you just don't like the textured ceiling, you could either scrape it off wearing proper PPE, or simply put a layer of new drywall right over it to conceal.
In general, people get a lot more worked up about this stuff than necessary.
