Ride on the road, you have the right to, and it's safer than you think
This crops up on web forums, USENET, conversation etc all to often.
What is Vehicular Cycling? Simply put, it's riding a bike on the road excerising your right to be there, being visible and predictable.
I have both of the books on this, 'Cyclecraft' and 'Effective cycling'. Any aboc'er is welcome to borrow these books.
And remember, with rights comes responsibilites. You don't get one without the other.