Wpdb prepare was called incorrectly

I want to prepare my data to avoid SQL Injections. So my current working code to show a list of data from a table’s column:

global $wpdb;
$sliders = $wpdb->get_results('SELECT alias, title FROM wp_revslider_sliders', ARRAY_A);

echo '<select name="revslider">';
if ($sliders) {
    foreach($sliders as $slide){
        echo '<option value="'.$slide['alias'].'" '.($select_revslider_shortcode == $slide['alias'] ? 'selected=""' : '').'>'.$slide['title'].'</option>';
    }
}
echo '</select>';

I need to use $wpdb->prepare to be sure that my datas are correctly brought from the db. My current progress:

$sliders = $wpdb->query($wpdb->prepare("SELECT id, alias, title FROM wp_revslider_sliders", ARRAY_A));

This isn’t working. I get a notice:

Notice: wpdb::prepare was called incorrectly. The query argument of
wpdb::prepare() must have a placeholder.

Can anyone tell me where I’m wrong with my code?

Regards