Here are the rules of the road in FL.
http://www.floridabicycle.org/rules/bikelaw.htmlI'm sure you can find the rules for your state.
I was on the Blue Ridge Parkway pulling a 30 foot travel trailer when I got caught behind a line of bicycles climbing a hill. I could not safely pass and I felt bad for the vehicles who were behind me so I pulled into the first overlook I could fit into so I would not impede traffic.
I did not have to legally do that. I could have just putted along behind the bicyclists enjoying the scenery, but I know there are idiots on the road who might try some stupid maneuver and get someone killed so I did the sensible thing and got out of the situation.
Driving or riding with a level of frustration turns otherwise sensible people into idiots who take unnecessary risks.