Get a hi-viz reflective vest, some strong rear blinkies (like the PB Superflash), and a brighter headlight w/ a flash mode. You can also get a reflective flag that sticks out from the rear to indicate to drivers where you begin/end.
Like anything, you have to get used to it. You drove for years, but when you first started it probably didn't feel as natural as it does now. Same w/ riding in traffic and riding clipless. Stick to the sidewalks for now if it makes you more comfy, but eventually you should ride in the street.