Yes, you're supposed to "suck it up" and pay for insurance, exactly. And if you buy a reasonable sized bike to start your insurance might not be $3K/year...unless you have problems on your licence to begin with, at which point you may want to consider putting your biking dreams on hold for a few years.
And if if you think calling an insurance company and informing them you've got 3 or 4 years of experience but you gained it driving uninsured all that time is a good idea, well...hate to tell you, but they'll drop you like a hot potato at that exact moment or will quote you some astronomical rate tantamount to a "go screw yourself" love note.
I honestly hope you don't think just driving uninsured is a good idea in the meantime. You may want to look at the ramifications of that from not only a "getting caught" perspective, but for a "getting into an accident, hurting someone, and getting sued into oblivion and paying for it for the rest of your life" perspective.