Are bicyclists and even motorcyclists annoying? Sure! However, it doesn't really matter how any of us FEEL about bicyclists. The law doesn't care about our feelings. In fact, our feelings can be detrimental to us in court.
In California, if any of us hits one, the fault will very likely rest with the driver and not the bicyclist in most cases. There's almost no way around it when the lawyer asks you why you didn't choose to slow down and even stop before you hit the bicyclist. So you felt like you were in danger? Then why didn't you slow down or stop? The bicyclist was hogging the road? How did that make you FEEL? Why didn't you slow down or stop? There was no room to pass them? So you saw them and then chose not to slow down or stop? Just like rear ending a car leaves the car in the rear at fault 99.9% of the time, so does hitting a bicyclist in California no matter how annoying they were to you.
And please don't tell the lawyer they were annoying you either, lol.
I do enjoy the irony of us RV'ers complaining about people holding up traffic in the right lane though. Us sloths get really annoyed by those slow turtles. ;)