Nothing teaches like real world experience, but I've picked up a bit of biking instruction, good and bad, from reading. This is an interesting bit from Grant Petersen's book "Just Ride":
Everybody says to be predictable when you're out riding on the streets. Problem is, you can be as predictable as all get out, but that's still not going to stop a vehicle driver from pretending they don't see you and cutting you off or pulling out in front of you or giving you the ol' right hook. Grant says, swerve a little bit, keep 'em guessing what you're doing, keep 'em on their toes. Make them look out for you. Of course, he says to keep this within reason - like when you're moving to the left lane to make at turn, you should probably stay predictable.
This bit of advice to be unpredictable makes me feel less bad when I accidentally swerve and look like I don't know how to ride a bike. I'm just making drivers look out for me. Maybe they'll give me a wider berth.
***disclaimer: I'm not advocating this is good advice. I'll leave that up to you to decide. Remember, he says swerve a "little", not swerve into the other lane...