In California and most places in the U.S. that I've been too,you can ride on ANY highway that doesn't say you can't at the on-ramp.If you should actually ride there is another story.
Once your on the freeway in California,there are Share the Road signs,sometimes....And there is a sign telling you when you must exit.
In some places around California and the West in general,the freeway IS the only road.There are no side streets,repair roads,ect. ect.
Most of the time in California,when you see a Share the Road sign,when NOT on a freeway,it means whatever little bit of road you are now riding on...Is going to get worse...