I don't trust other drivers as far as I can throw them - this is true for when I'm driving a car, riding a motorcycle, or riding a bicycle (or walking for that matter).
Fortunately my bicycle is a mountain bike style - the tires have a road rib, but can easily go off road if necessary. It can take way more abuse than a road bike - so I can jump curbs, ride on nearly any surface, and I have no problem going wherever I have to go.
I typically ride against traffic (I want to see who is coming), will ride on sidewalks (I will defer to pedestrians), and cut through parking lots, jump any kind of dividers (or jump off, pick up my bike, and climb over), etc.
I've only had one cop give me crap for how I was riding - and I think he was mostly just mad that it took him several miles to actually catch up to me (I never saw him until he flipped on his lights/sirens) because I was ignoring lights (as long as no cars were coming), and (in his own words) 'riding like an a**hole'.