Or to look at it from a different angle, 5 out of the 413 total manned space flights have ended in fatalities, or 1.21%.
Auto travel in the US has a fatality rate around 1 death per 100 million driven miles. Assuming an average trip of 20 miles, that's 1 death per 5 million car trips, or 0.00002%.
So, roughly 10,000 (EDIT: actually 100,000, missed a zero!) times more dangerous than driving.