Yes, you can go to small claims court against the owner and driver. You could actually accept the promissory note from Jacob and still proceed to get a judgment from Wang. If you do, you should make sure there is an attorney fee provision in the promissory note in case you ever need to hire an attorney to enforce the promissory note.
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Since you mentioned it was "a couple years ago" and is in settlement negotiations, you should be certain you discuss any statute of limitations with your lawyer to make sure the current negotiations aren't time sensitive. Otherwise, you should listen carefully to your lawyer and take full account of what he/she says. But certainly, you should not settle if you are uncomfortable with the amount being offered, and particularly should not do so until the amount of any permanent impairment is known.
Although you did not specify the type of policy (e.g., motor vehicle or homeowner's), the agent had the apparent authority to bind coverage on behalf of the insurer. From your desciption it would appear that your initial payment did not go through, and coverage was never bound. If that was the case, there wouldn't be a cancellation fee because there wasn't a cancellation. However, if coverage was bound by the agent, there would be a requirement for written notice of cancellation in advance...