Unless there's a dedicated bike lane, it makes more sense to cycle on the sidewalks than the road (if the road speed limit is 35mph+)
A cyclist has the same protection from injury in an accident with a car as a pedestrian, but the pedestrian is far less likely to be injured by a bike than a car (if there is an accident)
Studies have shown that riding on the sidewalk is considerably less safe than riding on the street (due to link rot, I can't find the studies I'd read, but google brings up plenty). Cars do not expect bicycles to be crossing intersections from the sidewalk, so your risk of being hit by a car goes up considerably unless you come to a complete stop at each intersection you cross. I've never met a bicyclist that does this as it will break your momentum considerably. Whats more, pedestrians and dogs often walk into the way of sidewalk operating bicyclist. Please don't do this.
My experience confirms that. I've done a lot of riding on the road with cars but the only time I was hit by a car was when I was riding on the sidewalk and crossing the road.
A cyclist has the same protection from injury in an accident with a car as a pedestrian, but the pedestrian is far less likely to be injured by a bike than a car (if there is an accident)