Certainly it depends on the road, but the most common type of accidents are cars failing to yield while turning, either into other roads or driveways.

Cars are looking for road traffic when they’re turning, so to be most visible you should be on the road. They’re not looking for cyclist riding 15-20 mph on the sidewalk.

And in my experience, all of the close calls I’ve had have been while riding on the sidewalk. The closest I ever came to getting hit was a car turning while I was crossing a crosswalk at speed. I had to swerve and jump the curb to avoid getting hit.

Also, cars and cyclists are much more similar than pedestrians and cyclists are. Pedestrians can stop and turn instantly, while cars and cyclists cannot. Pedestrians also are likely to be on their phone, walking a dog, or pushing a stroller. Or all of those at once.