Ride in the street. You have the same right to the road as an automobile. Despite the best efforts of General Motors, the streets still allow pedestrians, bicyclists, farm equipment, horse drawn carriages, etc. If you don't assert your rights, you lose them. Many cyclists ride as close as possible to the parked cars on their right, frightened that an overtaking vehicle won't see them or won't wait until its safe to pass.
Many prospective cyclists are justifiably concerned about safety.
However, the perception of danger is generally far greater than the reality. In my experience, probably 98 percent of the motorists I encounter are truly not a problem. Again, be assertive. The CVC doesn't require a cyclist to pull over everytime a car approaches from the rear. You only have to be as far to the right as you consider necessary to safely operate your bike.