One of the first things my driving instructor taught me is that you have to assert your right. A measly bicycle has as much right to be on the road as a Cadillac Escalade. At the risk of preaching to the choir, a bicycle should take up a full lane on the road unless there is a special bicycle lane.
I am not saying go crazy and ride your bicycles on freeways. This is more about city streets. That being said, I truly believe the way to have fewer cars striking cyclists is to have more cyclists assert themselves on the road.