Can't you just JOIN to the table twice?
SELECT pct.Asset,
pt1.Path AS PrinterID1,
pt2.Path AS PrinterID2
FROM PCTable AS pct
JOIN PrinterTable AS pt1
ON pct.Printerid1 = pt1.PrinterID
JOIN PrinterTable AS pt2
ON pct.PrinterID2 = pt2.PrinterID
BTW, points out that a better design would be to list the PC to Printer associations through an interim table so that you can do many to many joins. What happens when a PC has another printer?
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