Using the following query
SELECT DISTINCT ID,IF(FKID,'yes','no') AS hasB
FROM A LEFT JOIN B ON A.ID = B.FKID;
You'll get
+------+------+
| ID | hasB |
+------+------+
| 1 | no |
| 2 | no |
| 3 | yes |
| 4 | yes |
+------+------+
4 rows in set (0.07 sec)
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