Right now I am reading "The Art of Urban Cycling", and it is a valuable read even if you don't ride in the city. I got my copy used and cheap on Amazon. The book goes on the premise that we should bike with the default assumption that any given car driver is going to do the wrong thing. Biking with that in the back of your mind has the effect of making you into a biker that keeps a good buffer zone around them and forsees problem situations in advance, thus able to choose alternate ways to avoid problems before they happen. It's a good concept.
It would be great if drivers knew more bike safety rules, and everyone should promote more education abou that. But I also think it is wise to just ASSUME cars don't see you and will do the unexpected, stay vigilent and position yourself to avoid certain situations in advance. Sometimes a car driver will look right at you, but not actually "register" that you are there because they are scanning for other cars.