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.