Long time cyclist and driver here, (but I cycle much more than drive).
Sadly I'm not sure we're ever going to get over this. The pro- and anti- camps are so polarised that compromise and acceptance seems impossible; it feels like someone has to be the winner. I had a break in Berlin recently and the attitude seems so different. There were loads and loads of cyclists (most non-electric as far as I could tell) but everyone adhered to the rules. Motorists and cyclists always stopped at red lights. Pedestrians only crossed at crossings and only when the green man light was lit. There were cycle lanes, sometimes borrowed from the road, sometimes from the pavements but always used. What's needed is a cultural shift in mindset.