Hi mutineer123!
Centripetal force is the force required to keep an object in its (typically circular) orbit.
Only if the gravitational force matches the required centripetal force, will an object actually be in the corresponding orbit.
Normally, acceleration is an absolute.
It says how much an object accelerates with respect to a so called inertial frame.
However, if we're looking at the orbit of a planet, we can talk about the acceleration with respect to the orbit of this planet.
In that case the required centripetal force that will keep the planet in its orbit will match the gravitational force on the planet.
If we look at an object nearby the planet, it will also respond to the gravitational force, keeping it in the same orbit as the planet.
Any difference is an acceleration of the object with respect to the planet.