Falcon 9s and Dragons are an evolution of tried and true rocket engineering principles, even capsules are much safer at reentry than the shuttle. Delta showed that type can be launched with a high degree of safety. SpaceX has the advantage of getting returned equipment back from space to learn from and improve.
Going forward, it might be to our advantage to own it rather than hide it. Yeah, it's dangerous. So let's risk the danger! We courageously do our best and launch ourselves into orbit, and some of us die, but progress marches forward.
I'm not sure if that type of message would have a better or worse impact than shielding everyone from the idea that disaster will strike till it happens. It could go either way.
With the ITS this will be a much bigger problem, because the ITS will not have such a lunch escape.
So far, everything SpaceX has done is working to greatly expand the window of "survivable failure". Remember on one of the early Falcon 9 flights when one of the 9 first stage engines literally disintegrated and the rocket kept flying? How many other rockets flying today can do that?
So, no, I don't expect we'll see people die in a SpaceX capsule. When was the last time someone died in a Soyuz?