Sharing the road is fine. But as a bike rider (or a runner or horse-rider), you also need to respect that fact that a car can cover distance faster than you, and as such, a sensible driver should be given the opportunity to overtake (safely).
As a driver, you should respect runners, horsey types, cyclists, etc – but also be aware that you can power past them once the opportunity arises.
Simples.
EDIT: cyclists that ride 2-3 abreast on long straight country lane (singletrack-type sections) should grow up and get some manners.