Or, learn to fight and escape from the guards. They're not that hard to escape. Obviously sorcerers and nightblades have class spells to evade, but anyone can use invisibility or immovability potions, sneak, and run. You only have to evade them for a few seconds to be able to use a door, and guards are like dogs, they can't use doorknobs.
I also wish there was a setting that would prevent you from accidentally stealing something. Yes, you really can do this, and it bugs the heck out of me. My templar is an upstanding citizen, and while trying to click on an NPC, she ended up snitching some stupid piece of armor.
I've never had any problems accidentally attacking anyone. I don't brandish my arms or spam skill in towns :P Now, accidentally stealing a shield propped up against the crafting station I was about to use, on the other hand...