Driving a car is dangerous too. On any given day in the news you can see mangled automobiles and fatalities. You try to be more careful. The same applies to trees. You become aware of your trees and seek expert advice from a certified arborist.
Trees do indeed fall and kill people.
Contact a certified arborist and get the facts about your trees. Your tree might be dangerous or maybe not. But find out from a person trained in tree care. A neighbor is complaining about your tree or even speaking in threatening tones. Some folks fear or hate trees.