Bike safety involves learning the actual statistics, because what "feels" safe to us is not truly safe. This is one area where you just can't trust your intuition. I can't recommend enough the Road I course offered through the League of American Bicyclists; check their website for classes near you. They also have a great deal of information on their site about safe practices while riding.http://www.bikeleague.org/

Riding on the sidewalk, and hugging the edge are common mistakes that intuitively feel safer, but are actually risky behaviors. Although it feels very daring and dangerous to "take the lane", and to use a left lane or a left turn lane, these things you should be doing regularly.