When you ride your regular routes, do you talk to dogs that you see?
There is a large dog on one of our regular rides. I call him "big fella" because he is a big dog. He used to charge the fence barking madly but I've always called out to him as I go by and now he comes out and runs along. He still barks but it is a different tone than it used to be.
There is one little yappy dog that we call scraps that always comes out after us but doesn't go for legs or wheels, it just runs alongside keeping pace. It is a cute little thing and we talk to it every time that it is out.
There are also a handful in yards with the buried wires for shock collars. You can tell by the wear pattern in the grass.
Then the ones in pens always get a shout out. People get dogs who by nature are social animals and then put them in a pen away from the house. That makes me sad to see.
One house used to raise dachshunds and they had a couple of litters for a while. We called it the wienerdog ambush as several would charge the fence and run along.

I believe that it helps acclimate dogs to seeing bicycles not as a vile incarnate monstrosity from hell but as something associated with people.