And this is exactly why its so important to have protected and raised cycling paths to prevent altercations between the different modes of transportation.

This is also the exact same reason we have pedestrian sidewalks separated from vehicle traffic to prevent altercation such as this, and its why things like boards, planters, curbs trees are so important between streets and pedestrian zones to minimise stress both ways.

Safer roadways are not where we remove barriers for cars, but put up barriers to make traffic flow more effectively and efficiently.

ie. Barriers are things like signaled intersections, crosswalks, curbs, curb extensions, bollards, painted lanes, raised sidewalks, raised cycling paths.

If you were the only person in a vehicle on the road stopped by a signaled intersection its probably very inconvenient for you, and you may ask for the signal to be removed as its a barrier. But if you add in the other vehicle traffic that uses the road with you, that signal now serves a very specific purpose to make your commute more efficient and safe. Without that signal, that exact same intersection would now be completely gridlocked with probably a few collisions, meaning you would get no where quick.