So even if you keep your own coins secure, there is still a danger of theft performed with violence. You have heard of people who were forced to give up their coins/keys under duress.
Does this mean that multisig is a must?
It is a possibility but you can remember the seed of your cold storage electrum wallet or write down words in some sort of code, that only you can break, it's harder to protect your gold, cash from robbery, bitcoin is easy.
What do you guys think about Coinbase Vault, is it safe? I mean there is a 48 hours windows before the Transaction is approved and even if a robber is able to acquire your keys you can cancel the transaction before it gets through?