Teaching a child safety is not abusive, and it doesn't need to be done in an abusive way. Behaviourism is "don't run in the parking lot or you won't get your treat" or "don't run int the parking lot or the adult will punish you."

Guidance is "please hold my hand because I don't want you to get hurt" or "please walk beside me because there will be cars driving here" or whatever is appropriate to the situation.