The SF Bike Coalition works with soon to be taxi's drivers in SF to teach them how to share the road. Taxi drivers are our litmus paper of the road - if they honk, we all honk. if they smile and drive calmly and share the road, we all do. (well, you know).
They have a great class and quiz that taxi drivers are required to take before getting their permit. things like how to pull over to the curb safely if you have to enter bike lane, other considerations that help bikers and cars share the road effectively.
Let's make this mandatory at the DMV for all Drivers trying to renew or get their license. I know there are 'some bike questions' on the written test, but we can improve these and if any city should, it's SF!