+1 for "assertive riding" and "taking the lane when necessary"
Cyclists need to be assertive, ride a safe distance away from parked cars and the kerb (so you can't be doored or have pedestrians step out in front of you), and generally expect drivers NOT to see you, and take avoiding action just in case.
Sure, riding in the middle of the lane when necessary will annoy car drivers, but it will force them to see you and keep you safer.
Cyclists need to be assertive, ride a safe distance away from parked cars and the kerb (so you can't be doored or have pedestrians step out in front of you), and generally expect drivers NOT to see you, and take avoiding action just in case.
Sure, riding in the middle of the lane when necessary will annoy car drivers, but it will force them to see you and keep you safer.