If you'd have pressed charges if someone had threatened you that way while you were driving or walking, you should certainly have done so here.
I think cops have enough to do and don't rely on them to police every unpleasant interaction I have on a daily basis. I'm alive and unhurt in the end, so I feel there really isn't any reason to bog down an overburdened criminal/legal system any more than I did. If it happens again with the same guy I will escalate to an appropriate level. I was pretty disappointed that the cop who witnessed it felt no need to intervene, if charges were to be filed it would be against him for failure to do his job while rushing to collect his free venti latte.