select a value where it doesn’t exist in another table

You could use NOT IN:

SELECT A.* FROM A WHERE ID NOT IN(SELECT ID FROM B)

However, meanwhile i prefer NOT EXISTS:

SELECT A.* FROM A WHERE NOT EXISTS(SELECT 1 FROM B WHERE B.ID=A.ID)

There are other options as well, this article explains all advantages and disadvantages very well:

Should I use NOT IN, OUTER APPLY, LEFT OUTER JOIN, EXCEPT, or NOT EXISTS?