I have no idea about what it is like to ride a bicycle where you live. I live in a dense urban area where the streets are narrow, where cars are parked on both sides of those narrow one way streets. There are numerous driveways where cars can be exiting onto the street, often backing up. Riding a bicycle on the sidewalk where I live is stupid unless you are not moving any faster than a pedestrian. Unless you plan on riding a bicycle at about the same speed as someone on foot, the handbook that you are looking at is correct. Ask yourself, if you want to cycle at the speed of pedestrians, or not. If you wish to move faster than someone on foot, get out onto the street, it will be safer.