In reality, being attacked by a stranger is vanishingly unlikely compared to it being a family member/friend/acquaintance. I've always felt this to be a somewhat misleading statistic tbh. Sure, being attacked by an acquaintance or family member is much more likely. Why? Because said acquaintance or family member generally has more opportunity and access to you. And why do they have more access to you? Because you're generally less wary and more receptive to them. So IMO it's really not a good argument for letting down one's vigilance towards strangers. If people started accepting rides from strangers on a regular basis (for example), we'd probably see a spike in assaults via stranger. There's a reason why certain professions (e.g. prostitution) are considered high risk for violence.
So, sure, I'm aware that I'm more likely to be assaulted by a male friend than some random John Doe. But that doesn't mean I'm going to be more willing to let random John Doe into my house.
ETA: And for the record, I'm also saying this as someone who generally has no problem walking around solo or taking the subway late at night. I used to give my college roommate heart palpitations because I'd go out for late-night walks "just because", and this was at a college where the surrounding neighborhood wasn't the safest.
Another factor is motivation for attack. Crimes that are pre-planned are more likely to involve a purposefully chosen victim that the perpetrator knows. Someone who knows you is more likely to know, for example, that you have a stash of expensive jewelry you inherited - even if you live in an area where most households don't contain expensive assets. Other crimes of opportunity like muggings, kidnappings, carjackings, etc. are just not that common statistically and the likelihood of being a truly random target of one is probably even more minuscule. Simply passing through a bad neighborhood during the day may raise your risk but only slightly, especially if you take measures to not be a target (don't wander around looking lost, if you end up lost in a car or on foot in a desolate area turn around and retrace your steps immediately, don't walk around holding your smart phone, etc.).
Another way to put it is that people who live in constant fear of being a victim of crime are on the one hand, probably overestimating how desirable and likely a target they are, but on the other, actually making themselves a more likely target because instead of normal vigilance they are likely to panic at the first sign of threat.
There is healthy vigilance and then there is living in constant fear.