Not quite. To show this, you’d have to isolate unintentional firearm related death. Homicide and suicide would need to be omitted to get information on the safety of the gun itself.
1991: 1441
2001: 802
2010: 606
A 24% drop in the last 10 years, and a 58% drop in the last 20 years using 2010 data.
Pulled from here (pdf). I did verify the 2001 and 2010 numbers at the CDC site here. but I couldn’t find the source of the 1991 figure.
At any rate, at least by this measure which is not an all definitive - firearms themselves have gotten safer.