Assuming you still want the customer data even if there are currently no notes associated with it, I would use a left join:
SELECT customers.*, notes.* FROM customers
LEFT JOIN notes ON notes.customer_id = customers.customer_id
Note: I'm assuming that there is a customer_id column in the customers table? If not, you'll need some kind of primary key field that can be stored in the notes table in order to establish the relationship between them.