This isn't a "on the one hand, on the other" issue. Even the most foolish and aggressive cyclist is almost never endangering the safety of drivers around him, even indirectly. Yet all it takes is a nudge, honk, door opening, unsignaled turn, etc. to kill a cyclist.
Bicycle etiquette is for all practical purposes not a public safety issue, and IMHO responses of the "but bicyclists can be rude" variety to incidents like these only help perpetuate a driving culture aggressive to cyclists.
> In those situations, I think it's reasonable to ban bicyclists outright
Why not lower the speed limit, or add a bike lane? Just because you perceive the public roads as "car roads" and driving as "normal" doesn't make it so, and I don't think your convenience should trump someone's basic ability to get around.