What do you call "safest"?
I find that walking is the worst, but as far as other vehicles are concerned, a lot depends on the driver (or cyclist). I feel I'm equally good when cycling or driving, and that I generally am more able to avoid others or to take evasive actions (i.e. foot-braking) when cycling than when driving.
As for "survival" on ice, I think the odds are in my favour if I cycle in the city (avoidance is more important) and drive outside the city (enclosure is more important). But then, I don't refuse a good cycling opportunity in Winter, even in rural areas.
In snow, I feel much safer on the bike. No slippage. Generally speaking, I find much easier to keep full control of 2 wheels than of 4.
Regards,