First, the Falcon 9 so far has a 100% success rate. The rocket engines are designed to be able to handle having a stainless steel nut pass through the fuel lines without shutting down. More so the vehicle is designed to be able to withstand an engine exploding, even at launch, without damaging the other engines and without preventing the launcher from reaching orbit. And the vehicle has already demonstrated the ability to safely abort on the pad after all the engines have been started.
Second, the launch escape system for the Dragon will be far more capable than anything that's been developed before. Instead of using a separate, heavy solid fueled tractor rocket like Apollo or Soyuz an integrated liquid fueled rocket system will be used. This will provide full escape coverage from the launch pad all the way to orbit, which no manned launcher in history has had. Additionally, the escape rocket will have a high level of redundancy.
Third, the advanced thermal protective system, simple capsule design, and robust drogue and parachute system make atmospheric reentry a lot less risky than, say, the space shuttle or even Soyuz capsules.
Fourth, before a human ever gets in a SpaceX capsule the launch escape system will already have been demonstrated on unmanned launches. By then the confidence in the system should be enormously high.
It's always possible to miscalculate or ignore risk, but SpaceX is doing a tremendous job to increase the reliability of their launcher and to make their manned capsule fundamentally safe by design.