Soldato
It's simple, yes you do your utmost best as a driver to avoid knocking a cyclist or other road user either, using your reaction times and brakes, but if they put you into the position where you CANNOT avoid them, they win the Darwin award and you as the driver may have killed someone despite it not being your fault.
I do not blame the OP for getting angry at the cyclist, if it happened the way I am understanding it, cyclist was being a ****.
Exactly my point, which nicely leads into whose fault it is, is almost irrelevant as you'd be naturally driving/riding defensively and expecting the unexpected