Unless there's a dedicated lane, you're putting your life in the hands of others... much moreso than being in a vehicle. I can appreciate the ideal of safe cycling on a road shared with cars, but it's not a reality.
There should just be separate lanes/carve out for bikes. Or, in a world of fully automated cars, cyclists can trust that they're safe. It's good to push for safety, but not realistic to expect it to happen fully in practice.
Personally I would love to cycle, but not a risk worth taking for me.