I've worked as a bicycle courier in Denver and DC.
Bike lanes have always felt kind of silly in my view. You're always being set up to collide with an opening car door or get T-boned by someone making a right on red. Worse yet, drivers will often try to overtake cyclists to make that right turn. Many are terrible at judging relative speeds.
Easy solution is to just skip the bicycle lanes. Move with traffic on the main thoroughfares. When possible operate on the residential side streets.
Bicycle lanes are part of the problem in that they create the wrong expectations for both cyclists and drivers. Cyclists still need to maintain just as much if not more situational awareness. Drivers expect cyclists to stick to the lane. As you approach any intersection you are going to want to move towards the center. Sure, get over to the side when it makes sense. No need to make a nuisance of yourself, but bike lanes create more problems than they solve.
Denver itself is a relatively rural area. Many drivers are unaccustomed to urban driving. On the plus side, you have extremely wide streets. I never attributed my experiences to a "lack of bike infrastructure". From my perspective the less planning, the better. Like the bike lanes, when they do build something, I doubt it would solve more problems than it creates.