I happen to do a lot of training in risk analysis and management as part of my profession. So when I started commuting by bike I realised there was some danger and I started to think of it the same way I would of any other industrial risk assessment.
As you ride your bike, identify the hazards and figure out how to manage them.
This is just a few of my techniques.
[1] Ride slow enough that you can stop if there is a problem.
[2] Don't ride in the door zone; but if you have to - see rule [1].
[3] Get off the bike and walk it across at a controlled intersection if there is a risk of right-hook, etc.
[4] Ride on the sidewalk (it's legal in my city) when the edge of the road is dicey. But always give way to pedestrians.
With my approach I believe the chance of me being killed on my bike is no more than other activities.