It's my mantra -- the safest way to drive your bicycle is to drive it like a car. Stay off sidewalks and bike in the road. Your bicycle is a legal vehicle and has a legal right to the road.
Tragically, a bicyclist was killed in Valrico when biking on a sidewalk.
This being the Tampa Bay area, I realize some drivers are going to verbally harass you and scream to "get on the sidewalk" but I always bike on the road because I'd rather put up with verbal abuse than getting broadsided by a car that strikes a bicyclist on the sidewalk.