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I know the etiquette is evolving around this so here's my quick guide to sharing the road with self-driving cars:

If you find yourself in a city whose political leaders are corrupt and vain enough to have allowed this scourge onto their streets, you absolutely do not owe them the basic courtesy you would extend to any driver.

Bearing in mind safety and basic physics, it's perfectly fine to, for instance, not let them proceed at a stop sign; not let them merge in traffic; take the lane and bike super slow in front of them; take your sweet time in a crosswalk; accidentally leave your personal traffic cone on its hood; etc, etc. Just remember that they are recording you, should you choose to escalate your discourtesy beyond the the obnoxious-but-basically-legal.

Self-driving cars do not deserve the right of way, because rights are for sentient beings, not roving death cameras.

If you are worried whether someone is riding in back, just imagine it's Jeff Bezos and he's on his way to a very important meeting. The more inconvenient these things are to hire, the more ordinary people will choose better options, the more swiftly these businesses will fail and disappear.