I don't use a GPS or a smart phone, like to cycle long distances in unfamiliar places, and generally suck at navigating my way around on my own . . . so can certainly understand your concerns.
What I do now, is plan out my Saturday route on Friday night. I'll check Strava heat maps to get an idea of the most commonly cycled routes in an area, then use google maps and streetview to plan out the best loop to take to get where I want to go. Once I've planned out a route, I write down instructions for where to turn (like turn left on highway 35, continue for about 45 min) and copy a couple maps with tricky sections of the route (as blown up as possible) into a couple page Word document and save it with a useful name (something like Toronto-Pickering-Mt.Albert-Toronto_140kmLoop) . Then I email the route to myself where it joins dozens of others in a folder in gmail, and print it out.
I stick the printouts in a plastic sandwich bag (otherwise it gets soaked/smeared with sweat or rain) with the printed turn instructions facing outwards and stick them in one of my pockets. Generally I can do the whole route by pulling the baggie out of my back pocket while cycling and reading what the next turn is going to be, but when I occasionally get lost I can stop and open the baggie to pull out my maps and navigate my way back on course. Absolute worst case scenario I've had to stop at a gas station and ask for instructions to get to a road once.
It's worked pretty well for over 7000 km of riding this year. :P