I like to look at things from a probability perspective. The chance of being raped and murdered on a walk home at night are less than 1 in 1,000,000. I'm not going to let an extremely rare, isolated, freak incident like this discourage me from walking around at night.
Did you know that the chance of you dying in a car crash is over 1000 times more likely than the chance that you will be murdered? That doesn't mean that we should be paranoid about getting in a car.
There are rational fears and irrational ones. Worrying about being raped and murdered on a 5 minute walk to your house is an irrational one. As much as the media tries to hype this situation up, Australia is a safe country. I will continue going for walks late at night whenever I see fit.
sometimes I get paranoid to walk alone during the day - once when I was walking to my usual bus stop to go to Chjadstone and a car pulled up with a man (looked a little suss) asking directions to Chadstone then he asked where I was headed and I said Chadstone then he said "want a lift?" and I said "nah ill be fine thanks"
"really?"
"I dont mind travelling"
"aw cmon"
"no really I am fine."
I remember having my back against the glass wall of the bus stop thinking he'd get out of the car but he eventually drove off when another man came to the bus stop
I just find it sad that things like this can happen during the day 
What are you suggesting? That the man who offered you a lift home was a serial killer? I highly doubt he was. Chances are, he was a polite man trying to help you, but you refused on the grounds that you have trust issues. I've gotten in the car with strangers about 10 times and never had a problem with any of them. I'm not suggesting that you do the same, but strangers are not necessarily dangerous people (only a small proportion are). You shouldn't judge people that you don't know.