My home is on a "postage stamp" lot in a subdivision. From my back door to the lot line is only 20 feet away. When I started beekeeping, I immediately got three hives and had to put them in the back yard until I found another location for the apiary. Never an issue.
I mowed and weed-eated around the hives about twice a week, kids and pets never had problems, and believe it or not, the neighbors were fine, too. I made a point to locate a gentle race that met my requirements, then never looked back. Though, it always helped with the neighbors when I delivered a nice jar of honey after harvest...
I have made one observation that I've never heard anyone else talk about... The more exposure my bees had to me, the gentler they were. When I finally moved them out into other apiaries, they never were quite as gentle. I only see them about once a week now, versus every day. They're still easy going, but i can't work them in shorts and a t-shirt anymore.