A cyclist who pretends he or she won't fall is living in an angelic realm of self denial. No one wants to fall. No one plans to fall on any given ride. But it probably will happen eventually. To avoid being hit by a cement truck, just do circles in your driveway...but then, what fun is that. Ski on the bunny hill and you probably won't crash, unless a bunny jinks in front of you.

DG......falls brought on by clipless pedals are most frequently "fall-overs". I've fallen down the steps of my house more than I've fallen over from clipless pedals. Personally, I don't think hurting yourself seriously due to clipless pedals is sufficiently likely to avoid using them. You have more chance of getting seriously smushed by a cement truck. In which case, don't ride. But I bet you'll keep riding, right?