it helps to know the theory behind ABS. when you're standing on the brake pedal, the brakes try to turn as much rotational energy into heat energy as it can to stop you. when the friction force of the brake pads to rotors over come the friction force between the wheels and pavement, the wheel stops turning. but if you're still moving, this causes the squeeling of rubber on the road. this is very bad, as you have lost all traction available to the wheels and are no longer in control of your car. if your front wheels are locked, you can no longer steer and have lost 60-70% of your braking power.
ABS monitors the wheel speed of each wheel. not necessarly the absolute speed, but the speed in relation to each other. if the ABS computer senses no movement of the back wheels, it assumes a lock up has occured and thus modulates the brake pressure to let the rear wheels turn again. this should allow the brakes to work again, because if the wheel is turning, it has some power to slow down the car. and the same for the front wheels. and the same for right side versus left side.
anecdotal evidence goes either way on if it's safer. for slower speeds (such as gridlock traffic), some people mention that they're used to following uber-close and stopping quickly. they claim that a quick screetching halt at those slower speeds takes less distance than if the ABS computer relieves pressure to keep the wheels rolling. i haven't been in that situation so i can't vouch for it's validity.
but even if it lengthens your stopping distance, you still have control. so, a longer distance where you can still turn and avoid objects may be much safer than plowing into an object closer to you because you can't avoid it.
racers like the ultimate feel of the brakes just as they are about to lock up, thus most will remove it (for weight issues also) for total control of the car. purists, mostly. high end (F1) have ABS, and traction control, but those are uber-performance and thus have the computing power to be very adjustable and very, very responsive.
it is another thing on the car to go wrong, so people hate the ABS system then. but when it keeps them from losing control, they praise it. if you don't have the experience or connections to dink around with the braking system, you're better off leaving it alone. besides, like SRS, the insurance provider may have a thing or two to say if you're in an accident and have disabled one of the car's factory safety systems.
the acura service manual has a section on the ABS, so you may want to look in it for troubleshooting.