What is the perfect middle ground between making your home burglar-proof and making it not a death trap if there’s a fire?

Burglar bars are great for keeping out 99% of burglars, but how are you going to escape if your house is on fire?

A steel door with a big metal bar going horizontal in front of it (on the inside of the house not outside) is great for keeping out 99% of burglars, but how are you going to break down the door if for some reason it won’t open normally during a fire?

What is the middle ground to where you keep most people out and don’t risk burning to death in your own home?