ACFT TAXIING FOR DEP AT TEB ENTERED RWY WITHOUT ATC CLRNC.

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ON MAY/SUN/03; XA55 LCL TIME WE WERE CLRED BY TETERBORO GND TO TAXI TO RWY 1. AS WE PROCEEDED TO TAXI; WE WERE ADVISED BY GND CTL TO FOLLOW A SINGLE ENG CESSNA; WHICH WE PROCEEDED TO DO. THE CESSNA TAXIED UP TO AND HELD SHORT OF RWY 1 AT INTXN K. OUR ACFT FOLLOWED. TWR THEN CLRED THE CESSNA FOR TKOF. WE TAXIED UP TO THE HOLD SHORT LINES. I WAS REVIEWING THE DEP PROC WHEN TWR CALLED AND SAID TAXI THE FULL LENGTH. WE ACKNOWLEDGED. I TURNED TO THE R TO SEE IF WE HAD ADEQUATE ROOM TO TURN THE ACFT. AT THAT TIME THE CAPT ADVANCED THE PWR LEVERS AND TAXIED ONTO THE RWY. TWR RESPONDED BY TELLING US WE HAD NOT BEEN CLRED TO TAXI ONTO THE RWY; BUT TO CONTINUE TO THE END; TAXI OFF AND HOLD SHORT. WE DID AS INSTRUCTED AND SHORTLY THEREAFTER CLRED FOR TKOF. WE ASSUMED TWR WAS EXPECTING US TO BACK TAXI ON RWY 1; SINCE WE WOULD HAVE BEEN UNABLE TO TURN OUR ACFT ON TXWY K. I SHOULD HAVE ADVISED TWR OF THIS AND CLARIFIED 'BACK TAXI ONTO RWY 1.' OR AN INTXN DEP FROM TXWY K SHOULD HAVE BEEN REQUESTED. TOTAL ATTN IS NEEDED DURING TAXI EVEN IN DAYLIGHT VFR CONDITIONS ON A QUIET DAY. ATC ALSO COULD HAVE INSTRUCTED US TO FOLLOW THE CESSNA BUT TO TAXI TO THE END; WHILE WE WERE STILL ON TXWY L.