Is it safe to place raw beef on the same surface that a full raw chicken has been on? I intend to roast the beef but I'm wondering if I should take any precautions?
In general, it is not a good idea to use the same surface for poultry and other foods; you would have to assume that cross-contamination has happened.
In this specific case, since you mention roasting, assuming it is a whole muscle cut, even if contaminated, the pathogens will not quickly penetrate to the interior—they will remain on the surface. Don't cut slits in the meat (such as for inserting garlic, or the cross-hatching on a pork roast) which would allow penetration deeper into the roast.
Assuming you cook it so that the exterior reaches at least 155°F/68.5°C, then your roast should be fine. Just make sure it is well browned which is a sure sign that the surface temperature has (well) exceeded 155 F.