Is it true that can you ride a bicycle on the highway based on the following text?

While there are no sections in the United States Constitution explicitly mentioning bicycles, bicycles are recognized as (non-motorized) vehicles nationally, and several states align bicycles with the same rights and privileges as horses and/or horse carriages, which may be limited from state to state and from city to city. Bicycles can, and in some cases do, generally travel on basic streets and highways.
yes