I disagree. Bicycles belong on sidewalks far more than they belong on roads.
That said, perhaps it's situational. My city has large amounts of arterial roads with heavy car traffic and sparse pedestrians. The speed limit on those roads is about 60 kph (about 40 mph), and I much prefer to stay off them as a cyclist. It would be much safer if I was allowed to cycle on the sidewalk in those areas, as there's little to no foot traffic.
In the city itself, different matter. There's much more foot traffic, but the speed limit is lower, so perhaps it's best there to be on the road.
One of the first things my driving instructor taught me is that you have to assert your right. A measly bicycle has as much right to be on the road as a Cadillac Escalade. At the risk of preaching to the choir, a bicycle should take up a full lane on the road unless there is a special bicycle lane.
I am not saying go crazy and ride your bicycles on freeways. This is more about city streets. That being said, I truly believe the way to have fewer cars striking cyclists is to have more cyclists assert themselves on the road.
Cycling on highways I'm pretty sure is illegal everywhere, thankfully.
I'm also an advocate of taking up a full lane, but the laws in many places (like New York) actually require you to ride to the right/shoulder where feasible. Unfortunately that's not really clearly defined, so even though you have a legal right to a full lane, cops will still give you a ticket.
Having narrowly avoided being doored a few times, I won't ride anywhere within a foot's range of a completely open car door.
That said, perhaps it's situational. My city has large amounts of arterial roads with heavy car traffic and sparse pedestrians. The speed limit on those roads is about 60 kph (about 40 mph), and I much prefer to stay off them as a cyclist. It would be much safer if I was allowed to cycle on the sidewalk in those areas, as there's little to no foot traffic. In the city itself, different matter. There's much more foot traffic, but the speed limit is lower, so perhaps it's best there to be on the road.