Você pode usar
EXISTS
:SELECT category, categoryID
FROM categories AS c
WHERE EXISTS (SELECT 1
FROM products AS p
WHERE p.categoryID = c.categoryID )
ou um
INNER JOIN
:SELECT DISTINCT category, categoryID
FROM categories AS c
INNER JOIN products AS p ON p.categoryID = c.categoryID
ou
IN
operador:SELECT category, categoryID
FROM categories
WHERE categoryID IN (SELECT categoryID FROM products)