It's generally safer to force-download files, than to view them directly in the browser. However, in the case of PDFs, the PDF viewers in Firefox and Chrome are probably safer and more up-to-date than the ones from Adobe or Foxit
Assuming you let users upload PDFs:
Store them in a database, and not on the file system, unless you know exactly what you're doing (see Path Traversal attacks)
Serve them from a different domain name (like googleusercontent.com vs google.com), to avoid cookie theft/clobbering on your main domain
Validate on upload. Check that size is the same as reported size. Check that filename looks ok. Virus scan. Use a PDF library to strip embedded JavaScript (you could try Apache PDFBox)