If you can't travel at the average speed of the car traffic on the road and you can't/refuse to obey the rules of the road, then get back on the bike path.
As for "undertaking" cars stopped at traffic lights and then taking off and blocking the lane, you deserve every bit of abuse we can think of. Don't forget, "bikers", we pay our road taxes. You don't. They are OUR roads, not yours. Our road taxes also pay to lay your cycle paths. Use them.