I live in Kensignton and it is a fairly safe neighborhood. There are many immigrants such as Jews and Muslims and they tend to keep to themselves, keep the neighborhood diverse, and the rents lower than windsor terrace or park slope.
There is still crime here, but it all has to be put into perspective. Overall I would say the crime is much lower than in crown heights, but that is just according to my observation, you might want to look at some real numbers. I also used to live in Crown Heights, by East New York Ave and I feel much safer in Kensignton. There are many more diverse families here, restaurants, bars, CSA, community gardens, etc here than there was where I used to live. East New York Ave is a real waste land though so it might be different where you live in Crown Heights.
It is not as nearly as hip as Crown Heights, Prospect Heights, or Williamsburg. You don't have all of those restaurants here that feature in the Food Network, like the restaurant Traif in Williamsburg. You don't have a bar like Franklin Park here. There are mostly families here. You will find yourself going to other neighborhoods for restaurants and bars fairly often. There are some new restaurants at Cortelyou Road which are really good though.
If you are looking for a doorman building, you should definitely look at those huge buildings in front of Ocean Parkway. I know someone who owns an apartment in one of them and he likes it a lot, never heard any complaints. I don't know of any other buildings around here with a doorman except the big ones with 100+ tenants in front of ocean parkway.
At night you would be walking from McDonald ave to Ocean Parkway. Albemarle Rd or Beverly Road are small dark residential streets, so yes they don't offer much "protection" from general light and people. I have walked these streets at night several times and never was mugged or anything, but I can see what you are saying.
If you want you might want to walk on Church Ave at night. There are more businesses there so at night there should be more people on the street. I don't know how safer it would be, but if what you want is light and people, Church Ave will have that.