Thankfully such stuff is a rarity for me. But if this happens regularly for you, then you need to go down when you are calm and collected and talk to your police chief or local sheriff. You don't necessarily have to fill out a complaint on someone, but it will give you an opportunity to air your gripes and then see whether you feel like they take cyclists seriously or not.
And don't give up your right to ride in the traffic lane. Shoulders are not for moving vehicles. It also might help to talk to your Mayor if you have one. Our Mayor is a very avid longtime cyclist and he gets things done for cyclists when issues are brought to his attention.