Well, you can't let fear of what might happen control your life. I write this as I await my husband to get out of surgery from a broken clavicle in a crash that happened when he was avoiding being hit. It's just part of cycling, but you can certainly mitigate risks in a lot of ways (riding on quiet roads, paths, early/late in the day). I no longer let fear run my life.
It's nice to hear your gym has good classes. I'd say go for it.
2015 Trek Silque SSL
Specialized Oura
2011 Guru Praemio
Specialized Oura
2017 Specialized Ariel Sport