You didnt do anything wrong.1) They are clearly wrong in telling you to get off the road 2) They are not law enforcement and have no authority to tell you to do anything. What they did is called aggressive driving and is a ticket able offense. However next time get a tag # and call the local constabulary and make a report, in the end it will still come down to your word against theirs but if thing do escalate then there is a record of the aggression. You arent a machine sometimes it happens. Dont beat yourseelf up over it.