On a residential street like that there is zero reason not to be on the road, especially if there are cars on the pavement, but I don't really mind cyclists being on the pavement if it's a busy A road.

There's a road near me with a speed limit of 50 and I regularly see cyclists on that road. It's insane that they're risking their life to be on a road when there's a perfectly good pavement right next to them and there's never anyone on the pavement. No one wants to take a walk along a road with a 50 mph speed limit.