Everyone I know has been in an accident of some sort. Hit & runs, side swipes, doored, pushed (deliberately), etc.
After better infrastructure, the most effective way to improve safety is to have more cyclists. I think we're in a rough transition period, but things are definitely getting better.
One of my bike buddies thinks things will really change once moms start cycling en masse. That'd change the perception from gonzo bike dudes to totally uncool in a heartbeat, evoking much less hostility.
These are both avid riders with professional-grade equipment taking a short Mission-FiDi route.
Regardless of its "project zero" marketing, SFMTA has bikes last on its priority list. It has to be pushed by guerrilla infrastructure groups to do anything meaningful.
I used to ride bikes all the time as a kid but I would not make a habit of riding on our roads. It's too much of a gamble.
But really really really, biking is not incredibly dangerous.