is co sleeping really safe?

Everyone freaks out when people put blankets, crib bumpers or stuffed animals in cribs with babies....but if they sleep in the bed with their parents there's blankets, pillows, and obviously their parents. Sounds equally if not more dangerous yet people just keep saying it's safe....in reality it's more of a suffocation risk than being in a crib with a blanket.
Did you co sleep? Use a bassinet? One of those little co sleeper beds that go between you and your partner? What precautions did you take? Was thinking of co sleeping our next child and today a friend posted a go fund me for her family member who lost their second kid to sids while co sleeping and now I'm paranoid and realizing how dangerous it is so idk