Causes of accidents have such a diverse and complex range of causes, I think it is not right to make as clear-cut an argument 'if everyone drove safely there would be no accidents'.
In my mind it is much safer to consider the road as a complex system with relatively predictable probability of injury (which in its function contains the risk of meeting an unsafe driver, but is not limited to that). I realise on a case-by-case level there is a definitive split of blame and I'm not attempting to isolate drivers from any blame, but simply from the cyclist's view all I'm asking you to accept is the following:
1) a risk of injury for cyclists originates from the 'system' of traffic on a road
2) someone who enters willingly into a situation, aware that doing so carries a risk (eg climbing a ladder) must accept some (not necessarily all) responsibility in that decision if the risk becomes realised.