It's... complicated...
I rode a bike to school when my limited money would buy a very bad car or a nice bike. So I opted for the bike and had to ride it because that's all I had. I did that for a couple of years - even in the cold and ice. My commute distance varied in my biking days, from 6 to 20 miles.
I always obeyed all the traffic laws, though occasionally in the early AM I'd find lights that would not turn green for a bike no matter what I did.
I had people scream at me to get off the road, and otherwise be exceptionally rude. I occasionally had bike lanes and appreciated them, sought them out because it provided better spacing. But the busses on those routes were frequently in the bike lane and were, frankly, slower than I was. But navigating them was always a pain until I got well past them.
On slower roads (20-25 mph) with no bike lane I would take a lane to myself and keep up with traffic but only when I could reasonably keep up.
In the end, safety won out, and I abandoned the practice.
Now, as a driver, I am appalled at the behavior of cyclists. With my experience I take interest in and carefully watch their behavior.
Running red lights and not stopping for stop signs is the worst. And it's pretty universal.
Bad spacing in the lane, little to no accommodation for drivers when they could provide a bit more space for a comfortable pass. Sometimes they can't help it, and I get it, but when they can and don't... I always tried to be crystal clear about my messaging to the cars around me. I'm taking the lane here for my safety because there are parked cars in the bike lane or otherwise on the shoulder. I'm done now and look, I'm providing lots of space for everyone to safely pass me.
So the rude behavior I encountered was finally somewhat understood.
I really appreciated having good bike lanes. But cyclists do themselves no favors in how they conduct themselves, which will hurt them when pining for better road accommodations.
Even the cost factor is complicated. Everyone factors in the cost per mile of the bike, which is excellent, but the input calories are non-trivial and if you're not running the numbers on just ramen noodles it turns into quite a significant financial cost.
There are definitely health benefits.