I'm certainly not saying pyrethroids are harmless, and you definitely won't find me volunteering to get sprayed with them. But I've known and treated several people who have created chlorine gas when they mixed together cleaning products (different brands of toilet bowl cleaner in 2 instances). I haven't yet heard about someone (directly, not a google search) who has gotten sick after using a can of RAID in the house.
This article on Cyfluthrin describes the health effects, and doesn't indicate it has any of the immediate stopping or incapacitating qualities which are needed in a defensive situation.
Cyfluthrin General Fact Sheet