This isn't about offense. It's about stress. You're basically telling people to not be stressed out when they're biking and cars pass them too closely, because

This isn't about offense. It's about stress. You're basically telling people to not be stressed out when they're biking and cars pass them too closely, because the car had a reason to be on the road. "The car needed to get to the hospital. You shouldn't get upset about being passed." The thing is, it doesn't matter if the car had a good reason to be going fast and passing in narrow sections of the road - it's still going to stress a bicyclist out to get passed closely, regardless of whether it was malicious, and regardless of whether there was a good reason for it.