So do you still believe that you are 100% not at fault? Do you still believe that there is nothing more that you can do to avoid this situation in the future?

The reality is that you cannot control what others do. So the best strategy is to modify your own behavior to ensure your and other's safety even if <gasp> that means you go above and beyond what is legally required of you.

Risk mitigation strategies for cycling
1. don't ride on MUPs
2. If you must ride on a MUP, ride slower than 20 mph.
3. Never ride faster than your ability to stop based on your sight line
3. Assume that kids, dogs, people, horses, goats, go-carts, tigers, and other misc. things appearing on a MUP will not follow the rules.