Can a officer give you a warning for failure to yield. Then state that if you don't advise your insurance company that you was as fault. I'm going to write you a ticket for failure to yield and your going to be in more trouble.
Admitting culpability or guilt to anything, without a finding by a court of law, is sheer stupidity.
You, as are all of us, are entitled to DUE PROCESS.
Be smarter than the average homo sapiens, and admit to nothing without the advice and counsel of an attorney that you have retained to represent your interests.
A traffic citation is simply the officer's analysis of your culpability of something.
You are entitled to a trial on that citation, or you can often dispose of most citations by taking traffic school, or seeking DEFERRED ADJUDICATION.
Before you do anything, speak to several locally licensed attorneys.
Discover your rights and responsibilities, as well as the impact of ADMITTING to anything.
Once you know, you can act.