As a driver and infrequent cyclist I’d say the reason cyclists are irritating is because they’re not as predictable as cars or motorcycles, and they’re also way more fragile. When one is around I have to keep one eye on them the whole time to make sure they have space.

One thing I would change is to mandate proper turn signals on bicycles. Some people aren’t good at hand signals, and you have to take your hand off the brake to make them, which just seems ludicrously unsafe to me.