You can learn to drive a self-driving car defensively, in the same way you learn to drive a normal car defensively. Pay attention to your surroundings, blind spots, and other cars.
Maybe self-driving is a poor term to use.
My point was that you can't learn to drive a normal car defensively if there are self-driving cars on the road (in their current form).
When a self-driving car decides to do something stupid, you won't see it coming because the decision tree is literally beyond human comprehension.
See: http://www.bbc.com/future/story/20181204-why-we-should-worry...
And Uber's and Tesla's accidents have shown us that you can't rely on the human in the car to catch it before it does something stupid. After all, teaching someone how to drive and watching them attentively is difficult work.
Tesla's marketing videos for Autopilot have a caption along the lines of "driver is only present for legal reasons".
Then it is not a self driving car, maybe let's named them human supervised self running cars
There are no self-driving cars on the market, or in development by major car manufacturers.
They all explicitly require human attention.