Like many others, I would report the incident. For future reference, getting the reg number is important as a minimum identifier - easier said than done sometimes.
Another aspect to consider by doing so: this driver may be a habitual poor driver or he may have made a uncharacteristic poor judgement. If the former, then the police have a record of the incident and if it occurs again, there is history. This could be useful to the next cyclist who has a similar incident.
In my area of the country, this reporting can be done on-line. First time offenders of an incident like this would receive a letter saying along the lines of 'you've been a naughty boy, take care in future, no further action will be taken this time'.
Glad you and the bike appear to be unhurt.