Set up a steamer, fill the bottom with water and bring to a boil. If the asparagus are very thick, peel them. Start about 2-inch down from the tip of the stalk and peel. It is not necessary to peel thin asparagus. Cut the asparagus to fit into your steamer basket. Cover and steam until the asparagus are bright green and tender, but still somewhat crisp, about 6 to 8 minutes for thick asparagus and 3 to 5 minutes for thin asparagus. Remove from the steamer and season with salt and pepper.