I have ridden a motorcycle(Honda 650 then Suzuki GS 750), only as a passenger. So I definitely feel safer on my (road)racing bike, than I did on a motorcycle.
Cyclists' and motorcyclists' have to deal with some of the same things. Things like motorists' treating both as if they are ghosts'. Either by almost hitting them, or hitting them outright.
The difference between the two. Is that a motorcycle weighs' more than a bicycle.
At the same time, if a motorcycle has a side-impact collision with a vehicle, at speed. There isn't much chance of survival of the motorcyclist. The same if a motorcyclist is the one that is hit from the side.
If a cyclist has a side-impact collision with a vehicle, there is still a possibility of survival. Because, Not every cyclist can go at speed, and at speed on varying speed limits. So, They can still be passed without the motorist breaking the speed limit. But if a vehicle hits a cyclist even from the side even gently. The cyclist has less of a chance of survival.
I have been in bike accidents on major arteries, and on side streets, in the business district, and in residential areas. All of those when I was on my bike.
Still, I feel that riding a motorcycle, outright. Is far more dangerous. Than riding a bicycle on the street. Because, With the increase in speed, is the increase in the lack of control. Some motorcycles can go 160mph on the highway. When they crash, if they haven't crashed with another vehicle. The motorcycle and motorcyclist(s) will individually skid along from the point of the crash. Depending on the speed, the inertia from the speed also transferred to the motorcyclist, the weight of the motorcycle and motorcyclist, individually, and the friction on the road surface. Will determine how far the skid.