Different vehicles have different expectations on the road and even laws to govern them. A moped has different rules than a semi truck. A bus has different rules than a motorcycle and a bicycle has different rules than a car.
All of these vehicles have basic laws that are shared and each of these has separate rules for clarification of behavior on the road. Base on this I do not see AFRAP as being second class. It is common sense which is often not common practice and therefore was written into law for all to understand.
I must admit that my riding conditions and attitude are probably influenced by my environment. The San Diego Bicycle Coalition has had advocates and their voice has been heard here for decades. We have clearly marked generous bike lanes on many arteries and there is no need to take the lane. We have bike paths that serve as excellent options for major routes.
In my view the current system works well and I see no need for change. I do not feel like a second class citizen when riding, I feel like a cyclist.
I would agree more education and outreach is needed but I do not support a global change in the law