I live on a tiny lot, 0.13 acres, and have a garden, 5 hens, and two beehives. You don't need a lot of space to keep bees at all, and there are a few things you can do to make sure they don't bother people. Bees fly up 3 miles to forage for food, and are very good at it, finding pollen and nectar in places you'd never think to look. Most sub-urban and even urban settings have more than enough forage.
Bees are not naturally aggressive, they don't want to sting, and will only do so if bothered. The only time I have ever been stung is when working my hives. I don't wear a bee suit, btw, just long pants, long sleeve shirt, gloves, and a bee hat. I work my garden in the middle of clouds of bees with no problems at all. My daughters have not been stung once in three years. My youngest likes to poke her little nose right in the entrance to the hive to watch them come and go, with bees bumping into her little cheeks, and she's not been stung once.
Please, and I cannot stress this enough, research local ordinances first. There will be location restrictions. Most municipalities want hives in back yards or side yards, with a water source, and 5' or 6' fence between the hive and pedestrian walkways.Make sure they are legal first. It would be tragic if a neighbor were to complain and code enforcement were to make you move your established hive. I helped a lady set up a hive last spring, and two months later that happened, she was very distraught.
Location is important. Side yards are a bad idea, if they don't get sun. Sun is your friend. Bees don't fly if there is no sun, don't stick your hive in a shaded side yard. Winter sun and especially spring sun are more important than summer sun, summer shade can be a benefit, but winter and spring sun are a must. Protection from winter wind is necessary. Bees like a south facing entrance to their hive, and tend to fly south first when looking for forage, keep that in mind when selecting a site. Also please choose a location based on the interest of the bees, not convenience of the keeper.
Fences are your friend too. When bees encounter a fence, they fly up and over, and then continue on their merry way, they don't drop back down. So a fence will put them above head height for most people. This can keep them from bothering your neighbors, and if you have the room for a 'bee yard', it could keep them from bothering your kids, guests, swimmers, etc. Most bees will fly sough from their hive, so don't put a fence withing 8' to 10' south of the hive, so they have enough room to fly up. This will also help keep the hive out of winter shade(sun lower in sky, longer shadows).
Water is important, bees drink lots of water, and will target a neighbor's pond, bird bath, or pool. If you have a pool, that will be the best source of water for your bees, and they will be attracted to it. You will need a good water source within their bee yard, that is always full, or they will go to the pool. Bees see sunlight differently than we do, they can tell the direction of the sun from a patch of clear sky, even if the sun is hidden behind clouds; they are attracted to the reflected light off the pool. There is very little you can do to discourage them from drinking from it. They are not likely to randomly sting swimmer though, they will land at the edge, and lap up water. That's it. Of course, that will still freak out a lot of people.
Keeping bees is one of the easiest, and most rewarding hobbies I've had. I don't work the hives much, I prefer a 'leave alone' method. I believe bees have been bees for a lot longer than people have been around, and they know how to do it better than I do. Bees are in trouble, dying off in droves every year. I believe that after pervasive use of pesticides, intensely industrial modern keeping methods are to blame. I don't harvest honey in the fall like most keepers, I leave that for the bees. I get less honey that way, but I don't have to feed mine sugar all winter either. I dont treat for mites(which is done by putting pesticide strips in the hive-really? pesticides INSIDE a beehive?***?!?). I've had zero mite problem, and better than average winter survival. The trade off is I only get about 2 gallons of honey a year from each hive, instead of 7 to 10. It all depends on what you want out of keeping bees.
/soap box moment, thank you all for listening.