In Washington state the answer to this question is: Yes. However, there are certain circumstances where bicyclists are allowed to ride in the roadway or across lanes of traffic.
Generally, if you are just riding along you need to keep to the right side of the traffic lane. If a car is following you, you do not have to move to the shoulder. Bicyclists are allowed to ride in the road just like a car does.
Bicyclists should use their best judgment. If it is safe for you to ride on the shoulder or a sidewalk you should do so. Bicyclists should not hold up traffic if it is possible for them to use the shoulder, share the road for your own safety.
If you are involved in an accident and you were riding on the right side of the road, you should contact an experienced bicycle accident attorney to see if you have a case. You can also order Bicycle Accident Secrets Unlocked for free if you're Washington state resident. If you want help now, call 888-230-4970!
Max Meyers Law