No! But sadly, many think they do (normally with the flawed “road tax” argument). We cycle to the left where safe because frustrating drivers doesn’t normally work out well for us, and is a bit antisocial. But there are times I do ride in the middle of the lane. Bad road conditions, passing parked cars (keeping out of the door zone), approaching traffic islands, queuing traffic or red lights etc etc. I ride in the middle to control the lane, in situations where overtaking would be dangerous. Then, as soon as I can, I move to the left, allow the car to pass, maybe even give them a friendly wave if they’ve been patient!
There’s no advantage to being militant about it, but you have to be assertive. Just ignore any driver who gives you grief about it!