North of Praia do Madeiro is Praia Cacimbinhas, a secluded beach. Further North is the town of Tibau do Sul.
Big cities in Brazil are famous for being unsafe, but this is not the case with small towns. Praia de Pipa can be considered a safe place. But when in Praia da Pipa, you should always leave your valuables in your hotel safe box, and never leave your things unattended while on the beach.