The closest I ever came to hitting somebody was a middle aged man who full on stepped out into the center divider nowhere near a crosswalk without even looking right while I was bearing down on him with a string of motorcycles behind me. I had one car length to stop, endo'ed up and sort of jumped off to the side of him which I could do because I'm on a mountain bike with great brakes and I ride defensively like you say. If I hadn't been there holding the pace, those motorcycles behind me could have been going and lot faster, and frankly they would have done a lot more damage had they actually hit him. I often wonder how people get hit by buses, but cycle commuting in London has shown me: given enough people someone is guaranteed do something ridiculously stupid and suicidal.
Oh and don't get me started about the tourists at Piccadilly Circus / Trafalgar Square (they won't get hit because everyone who drives there knows the herds of pedestrians aren't paying the least bit of attention to what's going on around them).
I live in a town (in the US) which is fairly bike-friendly; a lot of places have nice paved paths and trails separate from the streets, and places that don't have them often have dedicated bicycle-only lanes. But a lot of people just won't use them, so I started asking my friends who biked everywhere why that was.
The responses, almost universally, were complaints about pedestrians -- "they get in my way", "they slow me down", "I never know when one of them is going to pop out from somewhere" -- and basically boiled down to these slow annoying people, I don't want to share my path with them. Which is the exact same attitude they complain about in car drivers.
Many people don't, unfortunately.
- Pedestrians who don't see you coming
This one struck a chord with me as it's my biggest issue with cyclists (and I am one). The pedestrians have right of way, so you have to ride defensively. Also, I've nearly been in a collision with a cyclist who thought it was OK to run a red light on a pedestrian crossing.
When I'm on my bike I obey the road laws, I don't see why so many people have a hard time with this.