I remember seeing a video (I forget where) where a cyclist and a truck driver changed places on a closed track so each could see road situations from the perspective of the other. The cyclist was amazed at just how many blind spots there are in the cab of a truck and how all the truckers he'd assumed were morons genuinely didn't even know he was there. At the same time the trucker realised how the natural thing to want to do is get to the front, and just how many places there might be a "hidden cyclist" and to be more aware.

That said one thing I love about being on a bike is that I can put my own safety first regardless of what the law says and know that I can't be usefully "caught" by a traffic camera in the process.