Safe driving is one part of the equasion. An important part, for sure. But not all dangerous situations can be avoided. People's reaction times and driving skills are not unlimited, and there are situations that ESP can get you out of that even a very skilled driver without ESP can't get out of (and I'm thinking racing driver skills). You simply don't have control over each wheel individually. And people's reaction time is higher than that of a computer.
I guess I'm driving a safe car. It's a Golf Mk 7, so it has traction control, stability control and ABS and a 5 star EuroNCAP rating. I've also got the optional airbag pack which adds 2 more airbags, for a total of 9.
The car is equipped with automatic emergency braking and adaptive cruise control via long range radar. (Yup, the system works. The car was once on the brakes while my foot was still moving there).
The car has lane keep assist to keep the car in the lane should I nod off. It's also a convenient feature cause it moves the steering wheel for you. Another feature that works very well.
Furthermore I have adaptive HID headlights, which vastly improve the light output during the night by being a) HID, b) on high beam all the time and just blocking out the places where other drivers are, so they don't get blinded and c) turning into corners.
There's the attention assist, which is supposed to tell me when I'm tired. Doesn't work on me. It notices when I'm talking to others, but not when I'm really tired. That's a waste of money.
Traffic sign recognition system will see and display speed limits, should I have missed them.
Multi collision brakes... if there is a crash, the car will engage the brakes after the crash so that I don't move on and crash again.

I think those are the main safety features? And yeah, the attention assist, adaptive HIDs, extra airbags, radar and lane assist did cost extra. They are not on the standard car.