I always pass a cyclist in the same manner in which I would pass a car but it is easy for me to remember to do so as I also cycle on roads a fair amount.
When cycling I intentionally keep far from the curb in situations where I can see that it is not safe for a driver to pass correctly/safely. I try to find places to stop to allow traffic to pass as I also try to keep in mind the needs of all road users.
A bit of education in both sides would certainly help.
On a positive note, I often notice that when passing a cyclist correctly, the cars immediately behind me also do so. If you are concerned as a driver about the behaviour of other drivers, consider what you can do to reinforce a more safe experience on the roads for all.