Las,
“Yaakov Avinu held like the Samuel Hanovi that this is a שכיח הזיקא”
True, that will ‘exempt’ you from the Mitzvah, but you are still “permitted” to go ahead and endanger yourself to be mekayom the mitzvah. (Note – Not to confuse with the machloket if you are permitted to Yehrog on any mitzvah other than the three.. as this is not absolute death) Therefore, Yaakov can not hold it against them.