Its a weird catch 22, some cyclists are small puckered openings most arent, motorists notice the few bad cyclists and some of them become small puckered openings too, so the cyclists notice and the chain continues.
Not gonna lie, ive seen some horrid actions from cyclists, indeed once i nearly ran a pair over and once i was the one nearly run over.
Not gonna go into the tax thing because even if bicycles had tax they have no emissions so like electric cars they wouldnt have to pay anyway, which is right and proper.
But they should obey the highway code and have insurance, like i'd expect someone on a small motorbike to have, likewise though motorists should give them the proper leeway you would give a moped for example.
Tl:dr cyclists and motorists should be treated, and treat each other as equals.