My take on it is that there is not an appreciable difference in the safety of driving vs cycling - I don't think that we have good enough data to really dig further. If you look at the cyclist fatality rates, they are disproportionately affecting people doing stupid stuff like riding the wrong way, riding at night with no lights etc - if you remove those from the statistics and ask what is more hazardous - driving a car with a reasonable amount of skill and caution, or riding a bicycle with a reasonable amount of skill and caution, my guess is that there isn't a huge difference.

BUT, add in the premature death rates from lung disease caused by pollution, from diabetes and heart disease that could be reduced by exercise, etc, and I suspect that you will find that the death toll attributable to motor vehicles is much larger than the 100 deaths per day that come from crashes.