"...move from the road to the side walk..."
I'm not sure about within the city limits of Denver but in most of the state it is legal for bikes to ride on the sidewalk and generally safer.
When riding on the sidewalk it is expected that the bicyclist behave as a pedestrian when in the road the bicyclist is expected to behave as a vehicle.

The animosity between some drivers and some bicyclists is unfortunate, I ride a bike quite a bit commuting to work and 99.9% plus of drivers are more than polite. Stopping and waiting even when there seems to be time to turn in front of me or whatever. A big thanks to the vast majority of  drivers who are polite, patient and paying attention. I know some bicyclists do not follow the rules of the road and that is unfortunate, I would guess that it is a small percent.
Most drivers and most bicyclists are responsible, a few of each are jerks. Try not to let the jerks color perceptions of the majority. Most of us have encountered jerks in cars too.