Where you would need to kind of watch are on parts that have heat or sustained mechanical stress. I have thrown bottle openers onto the concrete floor at work, and they come away relatively unscathed.
You would want to be sure to handle the parts occasionally just to make sure they are still sound, because PLA will eventually biodegrade. At higher infills, I suspect they will last for several years, but it is better to be safe.
For cleanup, use a fine wire brush over the surface of the part. PLA can be kind of stringy, and could possibly leave 'hairs' that are not immediately noticeable.
PLA holds spray on enamel paint rather well, even moreso with a coat of John Deere buff primer, though I don't know for sure how child safe enamel paint is! ;)
Good Luck, hope this helped!
I agree about abs over PLA, Lego is abs, and it's less likely to crack and split than abs. Just make sure you run the nozzle hot enough to get good layer adhesion that will be 'toddler proof'