If it makes you feel any better, currently, no validated scientific literature allows a single dive without a risk of decompression sickness.
If you breathe compressed air underwater, you are at some risk for decompression sickness. The more dives you do and the less time between them, the greater that risk. Taking up the hobby of scuba diving is all about managing that risk, reducing it to an acceptable level for you, and drawing a bright line through a grey area.
Dave Lucas THIS ^^^^^^^ covers it off pretty clearly.
Diving will not ever be risk free. Best you can do is reduce the risk to the minimum possible