In my experience it is the cyclists who are trained to keep a careful eye on everyone else on the road and anticipate what others are going to do, because if they do not, they die. People who are always driving are much less aware of what their high speed air-bagged (only on the inside, of course) steel tanks can do to a human body, especially if the thing they might hit is just 70kg and not a 2 metric tonne object.

Speaking as a person who has had several accidents with cars while biking and zero accidents while driving.