If we added bike lanes to sidewalks rather than roads I think it would solve a lot of the complaints motorists have.
The most common type of bike accidents are cars failing to yield when turning or using driveways, and divided bike paths and sidewalks only make it worse.
I try to be super vigilant when crossing crosswalks and driveways when using the sidewalk, but pretty much all of the close calls I've had have been because I was riding moderately fast on the sidewalk.
Bikes are more like pedestrians than like cars.