SELECT 
  category_id, 
  parent_id 
FROM 
  jmj_categories 
WHERE 
  parent_id IN(36, 45, 46, 87) 
  AND category_id != 1

Query time 0.01010

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "29.42"
    },
    "table": {
      "table_name": "jmj_categories",
      "access_type": "ALL",
      "possible_keys": [
        "PRIMARY",
        "parent",
        "p_category_id"
      ],
      "rows_examined_per_scan": 120,
      "rows_produced_per_join": 33,
      "filtered": "28.33",
      "cost_info": {
        "read_cost": "22.62",
        "eval_cost": "6.80",
        "prefix_cost": "29.42",
        "data_read_per_join": "132K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "((`jmj_test`.`jmj_categories`.`parent_id` in (36,45,46,87)) and (`jmj_test`.`jmj_categories`.`category_id` <> 1))"
    }
  }
}

Result

category_id parent_id
31 36
47 45
60 46
32 36
48 45
61 46
33 36
49 45
62 46
34 36
51 45
63 46
35 36
50 45
64 46
37 36
52 45
65 46
38 36
53 45
66 46
39 36
54 45
41 36
57 45
40 36
59 45
43 36
55 45
42 36
56 45
44 36
58 45