I've been yelled at, to 'get on the sidewalk.' I compare it to 'dogs that bark aren't the ones who bite.'
At least I know they've seen me. Talk doesn't hurt me. I figure every time I'm riding in the road I'm putting more motorists on notice that bikes belong.
On my last ride through heavy traffic, the only time I felt uncomfortable was when my route took me along a rode with a stupid bike lane stripe that was one foot from the curb and divided a narrow single lane. Without that stripe I would have felt much more comfortable simply riding in the road a reasonable distance from the curb. With the @#%&*@ stripe, I felt constrained to ride near the gutter.
This is the kind of cyclist inferiority Forester talks about and Bek glories in.