No, of course you shouldn't ride along the footway. You probably do a lot of riding around London in other 30mph zones. 20mph is worth stressing as it's simply better, as the City of London is introducing a City-wide 20mph limit, and as it's a quick win that's easily achievable here. If it isn't done, that shouldn't send anyone into a panic about safety here--greater safety is only one of many different objectives that need to be achieved here. Among others, there are less noise and pollution, less motor traffic capacity, a better street design into a genuinely attractive public place, etc. Carry on riding across the bridge in the carriageway and be counted as the sort of traffic the bridge needs to attract more and more.
Excellently put Oliver.