I think it's a great idea to take classes, esp. if they're free. My LBS has a series of four classes: changing a flat, gear shifting, commuting 101, basic maintenance. I have taken them more than once and I seem to learn something different each time.
For me riding on streets involved having a bike map of my city, so it guided me to streets with dedicated bike lanes, showed lower volume but through streets, and streets to avoid. I realize not every city has this type of map.
Here's a free online class I did through League of American Cyclists. It says it takes 4 hours, but trust me, it doesn't. Make sure to watch the included supplemental videos - they're really good:
http://www.bikeed.org/
Hope it helps. Hang in there and get out and ride. Even if it's just around the block. Once you get into the habit you'll actually start looking for excuses to ride. Have fun too.
"Opportunity is missed by most people because it is dressed in overalls & looks like work" - Thomas Edison