What a strange double standard. Presuming your anecdote is true (and statistically, it isn't), your greatest risk is minor injury if hit by a cyclist, while that's the
best possible outcome from an interaction with a car.
And no, cyclists don't often ride between lines of cars. Some cyclists do that. Just like some drivers are reckless jerks.
Every group has bad actors. I'd even wager both groups -- cyclists and drivers -- have the same percentage of morons.
You seem to be claiming that all cyclists have to be saints "for the setup to work", which is bizarre. The rules in most cities in the US clearly prioritize cars over people. As plenty of other cities around the world have demonstrated, changing those priorities changes behavior.