My son raced as a junior from age 14-18. All you need to do is find a club with a "juniors" division. Even if he doesn't want to race, they can provide coaching and people to ride with. Some clubs are more commited than others to juniors, so you need to investigate. And cycling parents (usually dads) can be just as horrible as soccer moms. I had very little to do with the racing and I didn't start riding until my son had been riding a couple of years. My husband took him to the races, but we found other parents to share the load. When he started driving, we didn't go that often! Once he crashed in Connecticut, dislocated his finger, and they couldn't put it back without surgery. It necessitated a trip down there to be present for the surgery (he was 17). Cycling at that level is not a sport for the faint of heart. Scott got started by doing a 3 week riding trip from western MA, to Maine, across to Vermont. He had been mountain biking for about a year, but we bought him a road bike for the trip. He was definitely at a higher level than the others, so when he came back, he started going on group rides (a century!) with different clubs. Then he did a cyclocross race and came in second.
He got kind of burned out and obsessive at one point, but it's definitely a sport you can do for life. He's a Marine now, and just started riding again after about 4 years. He's been home for 10 days and after riding with him twice. I can see he has not "lost" it. He says he definitely wants to race again, when he finishes with the military.