YOu can sync via iTUnes and not use iCloud. When you connect your iPad to your computer look for the 'info' tab. Then when you scroll down you should see the option to sync your calendar. Tap on that and sync and you can sync your calendar without messing with iCloud.
Alternatively, its not quite syncing, but you can export your calendar from the calendar program, e--mail it to yourself, open that mail on your device and then save your calendar info from there.
I've had to do it both of those ways because I export my work calendar and can't sync with my work computer, also when I upgraded to windows 8.1, iCloud wasn't compatible for about a month or two so I would have had a blank calendar for that time.