In Toronto, bikes are considered slow motor vehicles. We have these kinds of problems. I think from a biker's perspective, it's dangerous because their life is on the line. But from a car's perspective, bikers are a danger to them finacially.
The problems IMO is asymetrical. Bikers put themselves on the line, but it's low cost (realatively) and no pre-requesite knowlege on how to behave on roads (no bike exam vs driver exam). A Car has low risk to themselves on the road, but it's costly (car cost + insurance + maintenance), and they have to past an exam on how to behave on the road.
To a driver: Bikers pretty much break the rules of the road and there isn't much consequence execpt an accident. I've never seen a cop pull over a bike for behaving badly. Bikes also have this thing where they can behave like cars sometimes, then behave like pedestrians when convienient. To me this needs to stop. Cities need to police bad bikers, and maybe have some training course/licensing for cyclists. There is a right way to behave on the road and I've seen alot of good cyclists, they just have to be more of them.
To a cyclist: Drivers need to be punished for dangerous actions against cyclists. Like not checking your mirrors before opening doors, or changing lanes. There needs to be civic campagins from the government urging drivers in the cities to be aware of cyclists and to remind drivers how to co-exists with cyclists.
I've thought of both sides of the arguement, I've changed the way I drive and cycle. Driving rules are pretty clear, but when I cycle, I just pretty much act likes a car with my hazzard lights on and hand signal like my blinkers are broken. I take up a lane and people can pass me when they can do so safely. Does it imped traffic? Yes, but I don't see anyone complaining about heavy trucks on the road.