Very true splitshift.
As you say, it's all about trying not to get killed. However we don't have crumple zones, side impact protection systems, locking seatbelts, airbags, ABS brakes and a ton-plus of steel and safety glass surrounding us. It's about 10-15kg of metal and rubber and the rest is flesh, bone and ~70% water.
I'd say that most cyclists recognise they are in this very vulnerable position compared to traffic and are lighter and slower and softer and spongier and squishier.
People respond to this in their own way, but a lot of us will choose to ride in an "aggresive" / "assertive" / "dominant" / "confident"* manner as we feel this is a safer way to ride (and studies often back this up) and I think this is what non-cycling drivists often pick up on as "bad" / "anti-social" / "inconsiderate" cycling.
I can't always be looking over my shoulder to see what the clown behind me is up to, so I ride in such a way as to try put myself in control of the situation - if they want past, they can put themselves at risk and give me room and go around like they would pass any other four-wheeled road vehicle. I don't deliberately "get in their way", I'm putting myself in the safest position in the road. I also know a lot of drivers dislike cyclists filtering through traffic - however I feel a lot safer when I'm moving, rather than stopped - as I can go left or right or speed up or slow down to take avoiding action. If I'm stopped in traffic, the only place for me to really go is over or under.
A cyclists' stupidity might end up in some bumps and bruises and scrapes to rider and bike, but the car / bus / van driver / street sweeper's stupidity can and does all too often end fatally. I think this is the key point - too many drivers just do not realise what the consequence of these actions will be. They just do not realise they are mindlessly driving around a motorised ton of steel that only takes a press of the wrong pedal or a turn of the wrong wheel to turn it into a weapon.
I now feel cleansed.
* = delete as applicable