The area of ocean where this trident D5 missile was launched is part of a test range that has been around for decades. It really wasn't that close and the whole thing is monitored for safety including Back Azimuth and Side Azimuth range safety officers who can destroy the missile if it does not track properly. The same goes for the ICBMs that are launched from Vandenberg AFB, which is on-shore.
I was once working a flight along the west coast and had just taken the pilots their meals when they pointed out a missile that had just launched from Vandenberg. So I've seen that from above, but can't recall ever seeing one when I lived near Oxnard and then South Bay.
Oops, my mistake, thanks OM.
Day & Night Trident II D5 Nuclear Missile test launch
https://www.youtube.com/watch?v=Mwal7FhH9LA
Lockheed Martin - Trident II D5 SLBM Achieves 148 Successful Test Flights Since 1989 [720p]
https://www.youtube.com/watch?v=7pAr-egKuMM