I'm new to biking, and there's some busy roads around me. I've learned to do what the above say. Also, be observant when you are driving. You'll notice how often you encounter bicyclists and how natural it is to avoid them for about 95% of the situations. Most of the time you just pass them, no big deal, and sometimes for a minute you are stuck behind them while you wait for an opportunity to pass. Then there's the 1% where you are stuck for minutes and you are pissed off and ready to run over the bicyclist, like maybe a really long narrow stretch of road where you can't pull over and they can't pass? I know I encountered those situations although can't think of any good examples, but I'll go a few minutes out of my way to avoid those areas.