I far prefer to travel alone. Doing this I can start in the morning when I want to, stop for breakfast when I like, stop to take photos without seeking permission from others and so on. I have ridden and driven a few times with others and hated it. Usually they are too slow and sometimes the exact opposite. I really don't like ditherers either or those who won't keep up. So to avoid aggrevation, I prefer my own company. I have no need to 'recount daring deeds' and am happy to write my daily journal of the trip (in some cases), have a meal and a bottle of wine, and watch the World go by. In 2006 I rode solo across the US from coast to coast and back in three months (17,000 miles) and loved the freedom of choice I had and the emptiness of the roads which allowed me to contemplate.
Going back to the subject of this thread, get a large paper map and spread it out on the dining room table. Mark those places you'd like to visit then join them up with a thick line. Do some research (Lonely Planet, Insight Guides, and so on). As for the Pyrenees I did the route in reverse ie from Barcelona north to Andorra (don't bother with Andorra) then head along the ridges of the mountain range to Sort, Col du Aspin and the Col du Tourmalet, some of this route is part of the Tour de France route towards San Sebastian and Bilbao.
Nothing to be scared of. It's just riding a motorbike after all but far, far better than here as the scenery is gobsmackingly incredible and the traffic is far, far lighter in general.