If EVERYBODY obeyed the rules there wouldn't be a problem, in my teens I was a very keen cyclist, lycra and all, we didn't have helmets back then just the little cap that you all wore. I used to do 70+ miles a day at the weekends and often 20-30 miles on an evening after school.
I guess we're talking back in the mid 80's here, I only ever had one accident where a driver (female) turned right in front of me, I went straight over the top of the car and landed on my feet, bike was totalled though frame badly bent. Of course it was the "didn't see you" excuse.
The roads are a totally different place now, and driving standards are far lower than they used to be, also I believe riding standards are lower, I never rode through lights, or filtered traffic or rode on and off the pavement, I took my place and obeyed the rules, avoided riding in the dark but had lights on if I did, maybe that's how I stayed safe ! But as a driver, how hard is it to watch out for cyclists ? and give them plenty of room ? you should be watching for all road hazards anyway, nothing special about cyclists.
I must say though, an unlit bike in the dark with rider wearing dark clothing is very hard to see, you can get a high vis vest from the pound shop if nothing else.