Cyclists do not have a bad reputation because of a few bad ones, they have a bad reputation because of the way the press and motorists look for the bad behaviour of the few and stigmatise the entire group of people together as being bad. Does it happen to car drivers? No - apart from some moans on cycle forums, but usually there will be comments critiquing anyone who says all drivers are bad. That doesn't happen the same way with cyclists!
And I will see more unsafe driving than cycling ever day (I see over 100 cyclists every day and perhaps a few do something daft, I think I would be safe in saying 1 in 10 motorists would be doing "wrong" things if you take into account: seat belt wearing, red light jumping, mobile use, eating at the wheel, stoping in the ASL, and speeding.