Cars weigh thousands of pounds. Consider the safety precautions for cars with air bags, crumple zones, and crash testing. There is no protection from cars for someone on a bicycle.
They try to say riding on the sidewalk with a bike is more dangerous because cars do not look out for bicycles at driveways and such.
But personally in most areas I don't feel safe biking on the street, and would rather stay on the sidewalk like I did when I was a kid. I would just have to pause to check before crossing driveways and intersections.
I believe that there will eventually be something like a smart safe city where 2000+ pounds vehicles do not freely mix with pedestrians, cyclists, and baby strollers. There should be physical barriers or totally separate walkways.
Think about it. They can't even sell a car without an airbag anymore. Yet what chance do you have from a physics standpoint to be truly safe when the other vehicle exceeds your mass by 2000+ pounds?