That must be a large car? I can't get 1 bike and 3 people in ours, unless we have no luggage and the 1 bike is the kid's.
I think most people who transport bikes do so because they are taking the bikes on holiday with them, so the car is usually rammed full. The odd time I've driven with a bike in the car it has occurred to me that if I were to crash the car, I'd probably prefer the bike to be on a rack and getting squashed into a crumple zone than rammed into my kidneys.
It's been the same with the last three Passat estates I've had; the latest a B8 is the best because the boot floor can be dropped lower than usual for big loads.
For 2 people + 2 bikes visible: fold the rear seats, slide one bike in on its side, drop an old blanket on top and lift the second bike in on top.
For 2 people + 2 bikes completely hidden: stack frames in boot and pack wheels all around then close the boot cover. Nothing can be seen.
For 3 people + 3 bikes, fold rear seats 33/66 and seat a passenger on the 33 bit, remove wheels from bikes, stack frames in boot with wheels around. There's still room for kit bags etc.
For 2 adults/2 kids + 4 bikes: use the 66 bit of the rear seat for 2 kids, stack frames with wheels packed all around. It's a squeeze but can be done.
....and yes, I do worry about being clobbered from behind by a bike travelling forwards at 60 mph.