There's no logical reason to believe that must be so. The sum of two things can be less safe than either one individually.
If Autopilot suddenly decides to veer into a railing, as it did in Montana, then a human operator may not even be capable of responding quickly enough even if they were totally paying attention.
Of course, this is all 5 years old, so maybe there are better safety features available now.
There are a couple of things that may or may not be believable. Maybe it's possible for one or a few drivers to greatly improve the global traffic system [2]. I believe it, but i can't find a real study that proves it. I do think a handful of self driving cars can smooth out those compression waves, just by driving sanely.
Finally, purely anecdotally, a friend of mine is a truck driver. We get to catch up over dinner every few months. He sees people doing crazy things multiple times a day. He sees the helicopter ambulances on a weekly basis, passing by wrecks in either direction. His assertion, if people would just stay calm and consistent, a lot fewer people would die. It's either someone not paying attention, or being super aggressive.
I, also, would like to see a study. I would bet quite a bit of money, that a highway with only autopilot drivers would have zero wrecks.
I guess the real question is, does sensor failure (device failure, snow, things like that) dominate wrecks? or is it interaction with unpredictable (aggressive, inattentive) drivers?
[1] (pdf) http://www.cbsnews.com/htdocs/pdf/Driver_DeathRates_sr5001_e...
I'm all for letting people use risky technology - I ride around asia on a clapped out motorcycle at times for example - but it's best to be realistic about it.