We just take along Rudy the attack cat.
I take my hand gun when traveling, but not because I feel threatened in the campground but because I worry about a potential burglar breaking into our home and putting it on the street. I started taking it when our kids were teens. I was really worried about one of their friends snooping around in our absence and doing something stupid.
I guess if we camped in none populated areas I would feel safer will it and would most likely stow one of my shotguns.