Suck it up and ride with traffic. It may seem scary at first, but you'll get used to it and it's a whole lot safer than the sidewalk. Generally, the goal is to be seen because drivers who see you will not hit you. Riding on the road gives you maximum visibility, so it's safer.

Drivers can't see you on the sidewalk because you're behind parked cars, trees, etc. So, every time you leave the sidewalk to cross the street over to the next sidewalk, you're a prime target. You're also a prime target for cars entering/leaving driveways.