My cats NEVER go outside. I live in a high-traffic neighborhood, there are coyotes, etc., in the area, and a railroad right at the fence where about 85-100 trains a day pass by. Not to mention human beings who mistreat cats (and other animals as well).
I have visitors over all the time, the cats will come out and look at them, but never bother them, unless the visitor beckons the cat to come closer.
Maybe it's just a matter of experience and car in handling cats.
BTW, I also volunteer at a cat shelter. Whenever we have a "problem cat" there, guess who they call on to try and relax it....I'm also the only guy there, too.