For some states its a requirement to file a will with the court, for others its not.
If you are worried about stealing etc., you can have the original filed with the courts. Just make sure you understand the rules of your state because in some states once you file the doc, you have to go through a lengthy and costly process to change the doc such as creating a codicil.
As always once the law becomes involved, things become both onerous and costly so I'd check the rules for your location and then think long and hard about whether its worth the trouble.
There are other simpler things you can do for your monies like completing a transfer on death with your bank & holding institutions. However for physical items you are stuck with having a human certify to the courts that they did the correct things per your will. Of course the person is subject to the rules of the court, and perjury is still a punishable crime.
Honestly though, my recommendation would be to keep the law out of your business if you're fortunate enough to have a trustworthy person act as your executor. If you don't have a trustworthy executor the court can appoint anyone unless you explicitly state certain people are disallowed. Be mindful that whomever does the job has a right to be compensated from your estate.
Do consider that making sure your "old blue couch" winds up in a specific place may not be worth the trouble.