Cycling is dangerous.
Sure, there are accidents with bikes. I do not want to discount your trauma (I had a traumatic car accident waliking when I was a pupil), and I had on the bike a collision with car whose driver took a left turn without looking.
I also have seen two probably fatal bike accidents in my life, where cars turning rolled over bikes and a lot of blood was left on the street.
The numerous terrible accidents with cars, when we pass wrecks on the highway, we somehow don't register that much.
But the whole point is, you will objectively and statistically live longer when you use a bike. Our views and risk perception are a bit distorted. And this is because cars are also dangerous to our health.