The verb 'be' can have different meanings.
I want to be with daddy.- This could mean 'live with' but it could also mean 'spend time with now'
I want you to be safe- Here, it is a linking verb, connecting 'you' to the word 'safe' and joining them.
There was no rubbish to be picked up- The verb 'be' can be used as an auxiliary verb, which can show things like the tense, make the verb negative, etc. Here, it is used to make the sentence passive.