I drive, bike, and walk in NYC, and the cars are hands down the worst, even when I'm in one. Bikes seem fine, except for the occasional meth-y bike messenger, but I haven't seen many of those since the early 90s. One thing Bloomberg has done well is making the city more bike-friendly, which means more bicyclers, which means a more mainstream profile, which (combined with clear bike lanes) generally means less chaos.
Though I will admit some surprise at how many people just walk about into traffic. I understand if you have the right of way at a crosswalk, because a lot of drivers are just fuckers and will threaten to careen into you, but I don't get just strolling out into the middle of a busy thoroughfare.