Over almost 20 years, I averaged 50-75,000 klm/year on motorcycles, at least 2/3 of that commuting across Sydney. I kissed the pavement 4(?) times, resulting in precautionary hospitalisation 3 times. I was struck twice by cars who's drivers aggressively changed lanes without looking, without warning - I was actually stationary at traffic lights on 1 of those occassions when he hit me hard enough to catapult me over the footpath into a ladies rose garden. Only once did I drop it due to my own "over exuberance" in the wet.
In all my years of fanging around off road, I came off a few times, picked myself up, dusted off & took off again (as you do!). I always rode defensively on-road, always wore all the proper protective gear, but only ever felt "safe" riding off road.