I think that if a cyclist is travelling slowly they should be allowed on the sidewalk. I don't believe a person on a bicycle travelling 5 mph is any danger to a pedestrian, and they would cause less problems then when they are on the road.
Fast cyclists are an "in-between" from sidewalk and road. Too dangerous on the sidewalk, to slow on the road (well mostly). When cars pass, they're more at risk for collisions, and even more so if the bicycles are two abreast, or more.
When i'm cycling, i'll stick to the side of the road as much as possible unless I'm at speed of traffic (50km/h), in which case i'll move towards the center so I can bike on a better surface.
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