Missiles
ICBMs have to be ready to go on a moments notice. While there were some cryogenic ICBMs, like the Atlas, most were either storable liquids, or more often in recent years, solids.
Commercial or scientific launch systems don't have that "instant go" requirement, so most use more conventional cryogenic liquids, with solids for boost as necessary. The Titan II used for launching Gemini and other things was a leftover ICBM.
Storable hypergolic liquids still find extensive use as satellite and space probe propellants, as well as thruster applications on vehicles like the Space Shuttle. They are safe enough under the proper conditions.