It's absolutely true that motorcycles just don't register w/ drivers the way cars do - I've been on motorcycles so many times when a car pulled right out in front of us. It was like they made eye contact, but didn't register it was a vehicle to wait on.. so strange. Defensive driving takes on a whole new meaning on a bike.
I won't ride them anymore on streets for that reason.. yes, I know cars are risky too. But .. well - my reasons are my own. And I'm glad you're safe and relatively sound.