No.
Again, his exact statement was: "Cyclists in NYC (and I imagine most cities) do not, and have never had, a history of 'endangering the lives of others.'"
He's stating unequivocally that cyclists do not have -- and have never had -- a history of endangering the lives of others.
They kill people. I certainly call that endangering the lives of others.
They don't kill a lot of people. Neither do sharks -- in the US they only kill about 1 person a year. That doesn't mean sharks are not dangerous or don't have a history of endangering people.
If you or he want to make a statement about the low probability of such an event -- fine. Or compare cyclists to far more dangerous motor vehicles, also fine. But to say that cyclists don't and have never endangered pedestrians is not factually accurate.