I can't tell for sure but I think that wasps have a skinnier waist so I am guessing hornet don't forget that either of them gather insects to pack into their nests for the larvae to eat so you may want to leave them alone unless they are too close to a house door or something. Maybe they are grabbing asparagus beetles to feed to their babies.
I have honeybees going to my asparagus flowers and I have seen a couple of bumble bees too.
The first time I saw one, it was on my winter squash..I thought, oh I wonder what that insect is..then like a lightening bolt I remembered being told that SVB were expected the week before. It was a stealth flyer..not a sound..no buzzing wings,,no swoop..