Disabling safe mode or removing apps from safe mode
That's something I'd say is impossible without rooting. Safe mode is for the case an app goes havoc, so it must disable all user apps (for the havoc-app to not be started, so one can uninstall it or clear its cache/data). Which means, in order to exclude an app from being excluded (oops), this app must be "converted" to be a system app (i.e. it must be installed on the /system partition) -- which only is possible with root-permissions (or if the app ships within the ROM).