[nods] That all makes sense - certainly I've found that being more assertive / not hesitating seems to be a lot safer (as in, gets me into fewer dangerous-seeming situations) than the opposite.

I read an advanced driving book a few years back when I still drove regularly that suggested that you actively think about what idiot things other drivers might be about to do (they didn't quite put it like that ;-) ) & make sure you're in a position to deal with them. Which sounds very much like what you're saying! And clearly also applies to cyclists.