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Usually that restriction only applies to divided or limited access highways. I'd look at the whole body of law just to be sure. Each state has their own variations plus a few quirks of their own. Pieces of legislation can get added that are inconsistent or even highly restrictive. For example, here in NY you can build and license a motorcycle but not a moped. If a motorized bicycle is manufactured and on the approved list it can be registered as a scooter. Build your own and ride it on the highway could get you arrested on the spot. Not that it is enforced much but don't get in an accident with it. Across the border in Pennsylvania 6 miles away a motorized bicycle with an automatic transmission and a top speed of 25 mph is legal. So I could pedal across the state line and start my engine. Read up on the laws. There have been a lot of people arrested for carrying pocket knives in the wrong state or town.
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