My parents and myself grew up in houses with lead based paint and never gotten sick from living in the house with the lead based paint.
So yes living in a house with lead paint is safe and the real problem with lead based paint in houses is when the lead paint becomes flaky or chips off and then a child eats the lead based paint and then the person gets poisoned from it.
Or you can even get sick or lead poisoning if you inhale lead based paint when it goes through the air as dust when you're sanding it etc.
But just living in a house with lead based paint is not harmful but if you can get the lead based paint safely removed and repaint with newer paint that is not lead based especially if you have small children that put things in their mouths.