In my experience, central London is OK for cycling because the roads are so congested.
The worst part of the UK for cycling is outer London, into the commuter-belt of SE England, along the M4 corridor westwards. All of the towns seem to be very hostile to cycling.
In my part of England (East Anglia) life happens at a slower pace and cycling is accepted as a normal thing.
I would agree that the apparently low pedestrian casualty rates are mainly due to fear and avoidance by pedestrians.