I and others have found upon replacing their CPS after that particular code that the error returns. Other reasons are known to throw that code and end up being more common than the sensor itself: bad connector and/or baked/cracked harness running along the oil pan, bad coil connector/harness or coil itself, and 'issues' with the opti (a lot of association attributed to oil or coolant in it).
To answer your question whether 'safe' to drive. Yes, perfectly safe, and does not affect any system or overall performance. As stated, it was added by EPA mandate for '96-on to 'do' NOTHING more than as a preliminary step to count pulses but never became programmed or implemented into actually monitoring or controlling emissions. But it'll sure flunk an emissions test if the code is set. One bright spot is your state may allow a single 'emissions exemption' if you know enough to ask for it. But you can't use the exemption for the same code at the next inspection. Some states also allow emissions exemption if you promise to drive less than certain miles/yr.
My driver already ran quite well, so I just had the light programmed out along with other desired parameter changes. My selected source is in my signature. Good luck.