There's actually an episode of 'The Crocodile Hunter' where Steve hangs out with them in the wild, he even lays in their nest and they don't seem to mind. Later on one of them goes into a frenzy and chases Steve up a tree and narrowly misses biting him, the teeth cut straight through the soles of Steve's work boots.
As for the poison it's actually an anti-coagulant, it doesn't kill you like a snakes poison would but it stops your wounds from closing until you bleed out. Komodo's will often bite prey much larger than themselves (like deer) and not bother chasing them, they will be attracted to the smell of rotting flesh later after the animal has bled to death and baked in the sun for a bit. Many lizards like to eat rotten meat.
The whole episode is on YouTube if anyone wants to watch it, the chase part I mentioned is right in the beginning about 4 minutes in;