Go out mostly on my own – club rides with large groups or through busy areas are a nightmare for winding drivers up and prompting unsafe & dangerous behaviour.
Plot routes that avoid busy/fast/dangerous roads.
Ride predictably, safely and (mostly) legally so the driver sees what they are expecting to see from a cyclist.
And never, ever get involved in anything.
In spite of that I’m reasonably assertive on the road and will happily take primary position or indicate that it’s unsafe to pass. The vast majority of drivers are actually fairly understanding, there seems to be a tacit acceptance at least.