I has a sad that you even felt like you had to ask this question, no matter what kind of bike you have. :( Out of curiosity, where do you live?
I would just try to be a considerate and careful cyclist. If you're used to riding, then you are used to being aware of crazy stuff that could happen around you.If you live in an area that makes you ask this question, the drivers might not know how to deal with cyclists. They might not think to look for you, or if they do see you, they could assume they always have the right-of-way. It's probably the same in your regular commute. They might have their guards down a little more in the familiarity of their bicycle-free neighbourhood.
But, no, it is not bad etiquette to ride your bike on public streets.