How do you ride on a road that doesn't have a bicycle lane?
I'd ride in the road before riding on the sidewalk just for the reasons you mentioned -- cars pulling out of driveways, pedestrians, etc. Note that sidewalk laws for bikes are generally up to local towns, so while one town may allow bikes on sidewalks, the next town may not.

I'm not sure what you mean about not wanting to be on the far right side by the cub, as riding as far to the right as safe is required under Washington State Law:

http://apps.leg.wa.gov/RCW/default.aspx?cite=46.61.770


  Every person operating a bicycle upon a roadway at a rate of speed
  less than the normal flow of traffic at the particular time and place
  shall ride as near to the right side of the right through lane as is
  safe except as may be appropriate while preparing to make or while
  making turning movements, or while overtaking and passing another
  bicycle or vehicle proceeding in the same direction. A person
  operating a bicycle upon a roadway or highway other than a
  limited-access highway, which roadway or highway carries traffic in
  one direction only and has two or more marked traffic lanes, may ride
  as near to the left side of the left through lane as is safe. A person
  operating a bicycle upon a roadway may use the shoulder of the roadway
  or any specially designated bicycle lane if such exists.


But sometimes being "safe" means taking the lane and it doesn't mean that you need to ride in the "gutter" by the curb. Use your judgement to find the safest place to ride. Regularly hopping from the sidewalk to the road and back again is likely less safe than just staying on the sidewalk or the road, so pick one.

In any case you should definitely ride like a car - use the appropriate lane for turning (i.e. don't make a left-turn from the right side of the road), follow all of the same traffic signals (stop signs, stop lights, etc), signal your intentions, etc.