The dangerous acids are very strong liquid ones like H2SO4 which because they avidly combine with water (in part by protonating it to H3O+, which only a very strong acid can do) damage living tissue by dehydration. HNO3 and HClO4 are similar, but even worse because they are also strongly oxidising.
Others are poisonous because the corresponding anions are. HF, quite a weak acid, is toxic because the F- ion is. Same goes for HCN, a very weak acid indeed.
One of the very strongest acids known, HCB11Cl12, is quite harmless because it is an involatile solid that just 'sits there' and the anion is non-toxic.(look up 'carborane superacids' on the Web.)
Citric acid is also an involatile solid with a non-toxic anion (indeed an essential component of life); but is also a weak acid.