I cycle and drive, and drive more than I cycle. The driver of the car is entirely in the wrong here, and he has no right to encroach onto the cycle area like that, and the cyclist has every rogjt to complain (just like you'd beep your horn if someone pulled out in front of you).
Idiot driver should be liable for any damage to the bike. It was a collision, so he should have pulled up and exchanged details if need be.
Driver is just an angry little c**t who could do with giving up his licence or at least having it taken away.