Driving (on public roads) is a social contract; I preach this constantly. Teaching my kids to drive over the last few years, I've given them some very basic philosophical tenets about this social contract:
1) the primary goal is to avoid contact with anything or anyone (this fundamentally covers almost all safety concerns. You don't hit anything, safety is taken care of generally);
2) as long as no one is hitting things (they shouldn't), no harm, no foul (this helps maintain perspective and avoid getting road rage);
3) remember that we ALL have to work together to get wherever we're going; make room for others, drive predictably, drive safely (this helps being mindful and engaged while driving).
That's it; everything else is manageable. If more people gave some thought to the idea of driving as a social contract where everyone is equally responsible to contribute towards everyone's success in the effort, we'd all be much better off.
