You’re not allowed to ride on a motorway so no, you wouldn’t ride on a motorway and, to be fair, a driver on a motorway wouldn’t expect to see a cyclist there either. However, on a road with no TRO restricting use by cyclists then a driver should expect to see cyclists and drive accordingly. It’s no good making up your own laws and saying cyclists shouldn’t be there, and you shouldn’t be driving as if it’s a motorway when it is not.
Sincerest condolences to the families of the deceased.