My first long trip to Baja was aboard a KLR650 dual sport bike. I rode mosty offroad the 1000miles from San Diego to Cab San Lucas for the Y2K NYE.
I fell in love hard and have been back 5 times now to sea kayak or bicycle. A motorcycle gives you the ability to explore and cover a lot more ground than a bicycle, but I prefer the quiteness and human speed of a pedal bike.
However, I have to be thankful to my motorcycle as it was a great way to introduce myself to the wonders of the Baja.