I would say why not have a safe at home? I sure a safe would cost you maybe the value of one decent coin and gives a nice piece of mind.
As far as estate planning goes that is a tricky one. Not so much about who can get the most for the coin because that is of course you but mostly could you part with the coins before your passing. My father in law was a big gun and coin guy and had his buddy still sneaking hem into the safe until the very end. I did not see anything from his collection after he passed so can only assume the mother in law pawned it all off at local shops for pennies on th