To speak perfectly straight about this you should know that when someone is looking to find offense in what someone else says, they will make damn sure they find it. So what I mean to say is there are those who are going to be offended at anything said, and there is nothing you can do about it.
But mature persons can always sense whether someone means well or not, and respond in kind to the person based on their understanding of said person's intent. I dislike the term 'African American' because very very few US blacks have ever been to Africa. The term just seems dumb to me.
I'm nobody important, but in my opinion 'Black folks' is a simple way to say it, and seems to imply the speaker is a humble sort.