Better signage and more consistent (state to state) rules that make common sense would go a long way.
Keeping in mind what is common sense to a biker is many times counter-intuitive to a driver. I hate the unprotected bike lanes on the right - as a driver you simply are not expecting people to be passing you on the right, on what effectively "feels" like a shoulder. It amazes me there are not more deaths due to this, to be honest.
After I spent some time in the Netherlands and Belgium I realized this was not just me. Those systems actually work and are designed with "road sharing" in mind. Everyone gets where they need to go, and even a dumb foreign tourist who knew nothing of local traffic laws could operate a vehicle safely amongst cyclists.