In Autonomous Driving, cyclists belong to the safety-critical class of Vulnerable Road Users (VRU), and accurate estimation of their pose is critical for cyclist crossing intention classification, behavior prediction, and collision avoidance. Unlike rigid objects, articulated bicycles are composed of movable rigid parts linked by joints and constrained by a kinematic structure. 6D pose methods can estimate the 3D rotation and translation of rigid bicycles, but 6D becomes insufficient when the steering/pedals angles of the bicycle vary. That is because: 1) varying the articulated pose of the bicycle causes its 3D bounding box to vary as well, and 2) the 3D box orientation is not necessarily aligned to the orientation of the steering which determines the actual intended travel direction. In this work, we introduce a method for category-level 8D pose estimation for articulated bicycles and cyclists from a single RGB image. Besides being able to estimate the 3D translation and rotation of a bicycle from a single image, our method also estimates the rotations of its steering handles and pedals with respect to the bicycle body frame. These two new parameters enable the estimation of a more fine-grained bicycle pose state and travel direction. Our proposed model jointly estimates the 8D pose and the 3D Keypoints of articulated bicycles, and trains with a mix of synthetic and real image data to generalize on real images. We include an evaluation section where we evaluate the accuracy of our estimated 8D pose parameters, and our method shows promising results by achieving competitive scores when compared against state-of-the-art category-level 6D pose estimators that use rigid canonical object templates for matching.