Unfortunately C++ ended up with a set of defaults (i.e., the most ergonomic ways of doing things) that are almost always the least safe. During most of C++'s development, performance was king and so safety became opt-in.
Many of these can't be blamed on C holdover. For example Vector.at(i) versus Vector[i] – most people default to the latter and don't think twice about the safety implications. The irony is that most of the time when people use std::vector, performance is irrelevant and they'd be much better off with a safe default.
Alas, we made our bed and now we have to lie in it.
vector::at() is an interesting example. Most of the time, you don't use it because you don't index vectors in the first place - you use iterators, and there's no equivalent of at() for them that is guaranteed to throw when out of bounds.