Jason Howard, 36, was allegedly heard shouting "move because I'm not stopping" as he hurtled towards a group of teenagers at around 20mph.
He admitted to police that he could have avoided the group but thought they would get out of his way, a court has heard.
Mr Howard struck Rhiannon Bennett, 17, with such force that he knocked her over and she struck her head on the pavement.
She was rushed to hospital but died six days later without ever regaining consciousness.
Mr Howard appeared at Aylesbury Magistrates' Court in Buckinghamshire where he denied one charge of dangerous cycling. If convicted he faces a maximum fine of £2,000 pounds.
District Judge Terry English heard Rhiannon and eight of her friends had been walking down Verney Close, Buckingham in April last year on their way to buy some chips.
Gerald Colllins, prosecuting, said Mr Howard could have swerved to avoid the teenager or applied his brakes but failed to do either.
"The defendant's bicycle collided with Rhiannon. Her head struck the defendant and the force pitched her straight back onto her back.
"Her head struck the pavement and she instantly lost consciousness. She never regained consciousness."
The court heard that Howard, of Western Avenue, Buckingham, was travelling at between 23 mph and 17 mph down the road and was captured on CCTV.
Mr Collins said that the defendant admitted in a police interview that he could have steered away from the pedestrians but thought a shout was enough to avoid the collision.
A 17-year-old friend who was walking with Rhiannon, told the court Mr Howard shouted "move because I'm not stopping".
The teenager admitted that the group had been drinking in the nearby skatepark prior to the incident but recalled Rhiannon only having consumed two cans of Stella Artois lager and told the court that she was not drunk and "absolutely fine".
The youngster told the court that she was not too concerned about the warning as she was walking on the pavement.
A 16-year-old boy, who was also walking with Rhiannon, told the judge that he could not remember the exact words which were shouted but he instinctively stepped to his right, away from the edge of the kerb.
The teenager told the court that he did not see the collision himself but when he turned around moments later, he described the defendant's bike as being on the pavement.
He told the court that in his opinion the defendant had mounted the pavement.
Chris Thompson, defending Howard, said: "Mr Howard was riding down towards a group of young people. He shouted a warning and the group moved to his left.
"You were right, exactly what you said, but Rhiannon at the last minute stepped back in front of him. Is that what happened?"
The court heard that after hitting Rhiannon, Mr Howard had put her into the recovery position.
The hearing continues.
