I only recently started riding a bike, but I already find myself paying more attention to cyclists while driving, especially when I make a right turn. Like someone else said, I can now happily follow a bicycle in the same lane if I can't safely overtake him/her. My definition of "safely" has changed, too. When I do pass them, I give a lot more room between them and me.
The same thing happened when I started commuting by bus 5 years ago. Buses used to be nothing but road obstacles to me before. I am a lot more patient with them now.