At what point in my training will I be able to fly with a safety pilot?

The trouble is, you need to develop your own curriculum, and tasks/goals for the flight. The person in the right seat should not be giving any advice or criticism. His goal is to simply keep the two of you from becoming a smoking hole. .
Regulatorily, he's there to avoid you hitting another aircraft (or possibly entering IMC without a clearance that would preclude him from doing so).
If you can't handle the aircraft without losing control of it, the person you want in the right seat is not a "safety pilot" but rather an instructor.
 
I did a very minimal amount of flying with a CFII before he told me to go practice what he had shown me with a safety pilot.
 
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