Can I safely touch the RPi board when I have plugged it in to the socket
yes, there is no risk of electric shock. RPi is a low voltage DC device. Some parts of it may become hot, however. You don't want to go touching it with wet hands, though, as you could short out some of the contacts and potentially damage the board. It's best to handle it by the edges when it's plugged in, but there is no risk to your safety in doing so.
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