It sounds like many have negative riding experiences with vehicles; I never have. In our younger riding days we stayed off most US and state highways, traveled mostly on county roads.
Road biking experience is limited to IA, IL, NY; miles of "back roads" in all directions. Grab a Gazetteer or Benchmark and have fun planning a trip away from traffic.
We haven't been bringing our bikes to a 2 week annual trip to Maine because of the available roads around the cabin (State highways). My brother brought his bike this year and indicated the roads looked like they'd suck for biking because of lack of rideable shoulder, but never felt threatened by traffic on his bike (hi-viz vest and flag). Drivers were very courteous to him as a courteous rider.
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