There should not be a set of skills to acquire to be on a road with cars. Roads in city centers should be safe enough for children to cycle to school.
For bigger arteries, this is achieved with segregated traffic in bicycle lanes. For smaller roads, this is achieved with sane city centre speed limits and respectful driving. That is the way it is implemented in countries like the Netherlands and they are in no way achieving this with extraordinarily skilled drivers or cyclists.
Your skills on a bicycle should be as basic as keeping safety distances and signaling your intentions. If I am putting 3 tonnes of metal in motion, it is ny duty to not act recklessly. This is the mindset that needs to change (on top of the infrastructure change).