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In the city center, right at the lake, there are some steps with fishermen during the day. If you do not pitch a tent you can easily crash in one of the lower steps as nobody sees you from the street. Just do not go all the way to the lowest step as it can be wet depending on the water level which depends on the time of the year.
Next to the lake there is the old town of Ioannina and the Castle around it. There are some places that you can climb the walls of the castle and you can sleep up there having a nice view of Ioannina and the lake. It's safe because not many people go there. I did it sometimes and even put up a tent.