I’m a long time owner of Venus or over 16 years and noise has never been a problem. I use mine in the bed room with door closed and I have never had a concern when using Venus as it is almost soundless at lower speed which I always prefer. I often use mine while wife and kids are at home.
At lower speed sound is barely noticeable.
You could have a folded blanket over it kills most of the sound and this way, any noise will be reduced to the minimum. And you don’t have to worry about muffling it.
I hope this helps and that you will soon enjoy Venus.