I generally don’t cycle on the pavement as a matter of principle as I don’t want to give ammo to the Daily Mail brigade. I will occasionally nip along an empty pavement if safety demands it but it’s very rare and usually to avoid some kind of motorized SNAFU.
However, the minute my boy’s wobbling around on his first bike I’ll be riding wherever he goes and where he goes will probably be (at least sometimes) on the pavement where a safe cycle route is not present.
We will be respectful, polite and sensible, anyone who takes umbrage with that, well, no helping them really.