I think the biggest problem is people are afraid of hitting someone on a bicycle because of the consequences that follow. When people are afraid, they get angry.

Yoda says: "Fear leads to anger, anger leads to hate, hate leads to the dark side"

The two things that need to happen:

education for Drivers AND cyclists. - This is hard because Cyclists don't need to get "licensed" To ride. So there is no "Cyclists education" courses required. Personally, I am not in favor of Licensing. This will lead to registration, taxing and requirement of insurance. For me, a big attraction to the bicycle is the freedom it represents from these systems. But a solution needs to come into place for education of both. A good start would be improve drivers ed curriculum and include chapters on handling different vehicle traffic.

secondly, Facilitation for alternative modes of transport.
Because of the difference in vehicle class, It is in everyone's interest to have bike lanes. For safety and awareness, a Bike lane makes sense. A lot of people want different rules drafted for bikes and cars, but I think that's silly. It's bad enough people don't know the current laws, adding a separate set is just going to confuse people, and further distance the sides. Adding a lane changes no laws, and simply follow the traffic laws, Bicycle or Car. If you're going to change the rules, make them universal, not just for cars or bikes.