If you go to the original 2009 announcement presentation for Go [1], not only is "memory-safety" listed as a primary goal, but Pike provides the definition of memory-safe that they are using, which is:
"The program should not be able to derive a bad address and just use it"
Which Go mostly achieves with a combination of garbage collection and not allowing pointer arithmetic.
The source of Go's failure is concurrency, which has a knock-on effect that invalidates memory safety. Note that stated goal from 2009 is "good support for concurrency", not "concurrent-safe".