Absolutely, you can avoid driving next to, in front of or behind them for significant amounts of time, by gently speeding up or slowing down to avoid them. Drivers ed instructors here advise people to do that. The worst local highway accidents typically involve semis: they're huge, the drivers often don't take enough breaks, etc. My city is on an interstate that connects Mexico to the U.S., and there is a lot of freight traffic.
Avoiding the interstate unless that is absolutely the only road I can take is another way to stay safer on the road. That's common in my city, too. There are other highways and toll roads without the semis. The interstate is a nightmare here.