dan
Many pesticides considered "safe" only get that rating for infrequent casual contact. Sleeping in it is a completely different story.
Bag the mattress, or replace it. Launder all bedding thoroughly when you do this and visually inspect it afterward. Spread diatomaceous earth and/or boric acid crystals (borax) on the floor around the sleeping area for overnight then vacuum it up. This stuff is not toxic at all unless you start eating it by the spoonful, but bugs like ticks and fleas can't survive in it. For them it is like getting a thousand paper cuts and a shower in lemon juice.