IMO it is a public safety issue, that is no different than motorized vehicles. Many consider that the rider is in the most danger. This is probably true. But they can be a danger to motorist that may have to react to circumstances where bicycles are on the road and not following the rules.
Since they will probably not be banned on roads.... the next best thing is to require non-motorized vehicles that will be driven on roads to be licensed, like cars and by statute have minimum required features (like cars) if they are to be ridden on public roads. This means a visible (sizable) license plate to identify it.
Likewise, the operator of any non-motorized vehicle on public roads should be required to have a license (like a drivers license) that is renew periodically. Maybe a regular vehicle drivers licenses would include the privileged to ride a bicycle on roads. That would at least ensure that the person understand the basic rules!
If insurance laws are present in the state, the bicycle owner must carry some minimum insurance level per statute. They can and do cause accidents and injury. I am sure a rider could be added people's existing motor vehicle policy for small extra charge. If the insurance industry would not cover it or cover it for a small extra premium, that says something!
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