I own a bike, a car oh and a pair of legs. In my experience, travelling via bike offers the worst experience as anyone on a bike seems to be equally hated by walkers and car drivers alike, not to mention some of the worst offenders are other cyclists.
Call it nerves or being chicken but I dislike riding on the road whether on my own or accompanied by the missus. I've passed the scene of more than a few accidents over the years where a cyclist has lost out to a road vehicle and it's not very nice to see. I'd rather not subject my little pink body to that and a dobby looking helmet isn't going to stop the severe cranial damage when a 30 tonne artic rolls over your noggin. Which means leisure cycling or occasionally cycling to work is confined to what passes for cycle routes around Swindon. These are almost entirely "shared" pathways which means a free for all with pedestrians who wander all over the place from side to side, dog walkers with mutt either off the lead or on maximum extension across the entire path. If you dare ring the bell or comment they could walk a bit more tidy, be prepared for verbal abuse or worse in return.
Our local council can't even afford to repair the roads so the cycle routes have no chance - rutted, potholed and at underpasses eye-gouging brambles hanging down just waiting for you.
Riding a bike does make you appreciate the needs of cyclists when encountered in the car on the road, not to mention I don't really relish the prospect of picking out bone and brain from my front tyre for months after a mishap. However the door swings both ways and I've encountered some real mutton heads, an example being the single track road leading to/from Barbury Castle where I ended up following a cyclist at 12 MPH for some distance because they wouldn't use a passing place to let me (safely) overtake. Some people probably wouldn't have been so patient, even at the risk of causing an accident.
Finally, as a pedestrian it can become extremely tedious when some cyclists swoop by with nary a warning bell or shout, inches to spare. Sadly, sometimes it seems the more "gear" they are wearing, lights and cameras clipped to their lycra and dobby helmet etc., the more reckless they are.
Not sure what the answer is, really. Probably more investment in cycling infrastructure either segregated alongside existing roads or new pathways. Our largely 1960's road system with the odd bit bolted on here and there is not fit for purpose for the volume and speed of motorised traffic, let alone cycle use.