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It will be fine to drive with that code. It saying the 02 sensor on the passenger side behind the cat is not reading. No big deal, if you need a replacement let me know, i have one laying around you are welcome to. The only o2 to worry about are the ones before the cats (sensor 1) as those control your a/f ratios.
Also, try resetting the code and see if it pops back up again. If it doesn't show up, your O2 sensor may be okay, if it does come back (most likely it will) then you know for sure it just didn't get a bad reading from it & it's bad.