then I guarantee it that drivers would then complain that cyclists were filtering to the front.

"IF THEY WANT TO BE TREATED LIKE CARS, THEY SHOULD WAIT IN LINE WITH THE REST OF US DRIVERS!!!! AAARRRGGHHH CYCLISTS DRIVE ME OUT OF MY MIND!!!!"

and so on and so forth. Trust me, no matter what cyclists do, the complaints from motorists will never stop, so trying to figure out a way to play kissy face with them will just result in frustration.

They are upset that you are wasting their time by making them wait behind you. Everything else is just a strawman argument. So unless we mandate that bikes have to go a minimum of 35 mph, nothing else will appease the motorists.

Just to put it to rest (although it won't) the following will do nothing to help relations between cyclists and motorists:

license plates
registration fee
tax to pay for road upkeep
getting every cyclist to obey every traffic law in existence
PSA or community outreach
critical mass
banning spandex
striking the name "lance armstrong" from the american language

what will help? Mandating every bicycle has a 30 horse power, two stroke engine installed and every "cyclist" wear a motorcycle helmet, and everyone start calling their bike a motorcycle.

Until they do that, ride however you need to so you are safe and ignore the honks and yells from ignorant motorists.