I don't use cycle lanes very often because even on the cycle lanes where you're supposed to have priority over adjoining traffic drivers overhang them. Also if you're approaching at the same time as a driver you are often banking on them stopping, and considering so many don't stop (because giving someone 2 stop lines that are less than a car length apart is a stupid bit of road design) you tend to approach them hovering on the brake, which is not a nice way to ride. However riding in the main road, as you approach junctions you can take the primary position and if someone pulls out on you (and they do) you've got much more space to do something about it or take evasive action.
Also where I ride most roads are restricted to 20, and 18-20 is quite a manageable speed for me, so riding with other traffic doing a similar speed makes sense, but people still speed so they can overtake me so they can sit closer to the car in front.
You know as a driver that roads are in a shocking state at the moment, one of those potholes could cost you a tyre if you don't pay attention and if you're sensible you drive round them as much as possible, or slow down for the ones you have to hit. One of those potholes could see me on my arse, potholes often form around drains covers, which are normally at the side of the road, which is normally where you want to force cyclists to ride.
Whether you like it or not this is only heading in one direction. I find that in cities people have mostly been pretty quick on the uptake with respecting cyclists but rurally and in the suburbs you see some shocking driving around cyclists.
If everyone just chilled out and appreciated their own insignificance more then driving and cycling would be much more fun. People should have to take some kind of test to prove they can manage their time well enough that they don't need to imperil others trying to make up 10 seconds on a journey