I don't mind sharing the highway with semis, but I don't run next to one any longer than I need to at speed. It's just an exercise in physics - you give 'em their due regard by virtue of mass and inertia.
Right. It's a matter of smarts. Unless you're in a crowded city environment know their limits and work within them. Don't drive in their blind spot. Either slow down and drop behind them or kick it in and get in front of them. Watch what they're doing and react. Honk if they don't seem to see you. And for heaven's sake, don't use the space they're leaving for breaking room to change lanes at a red light. I see more of that stupidity than I can stand.
Shalom.