AAA rule of acids. When diluting, Always Add Acid to water, and never the other way around. When cleaning garage floors, you could use a much lower concentration than the stock 31% in the bottle. By diluting, you reduce the skin contact and inhalation hazards substantially.
For safety, keep a big box of baking soda around when using large quantities of muriatic acid to neutralize any spills. If you get some on your skin or eyes directly, wash with water for 15min or so. Washing past 15min (really more like 5min) is just going to cause hypothermia. If you get it absorbed into your clothing, don't be bashful and strip the clothes off immediately. If you're working with it in enclosed spaces, you should be fitted for and trained in the usage of a full face respirator. At very high concentrations in enclosed spaces, I would assume SCBA and a full HAZMAT suit would be necessary.