The difference between bikes and cars is in the mean/variance of time to park.

For a bike it takes about 1 minute or more to stop, detach/unlock your lock from the frame and lock your bike to a bike stand, then take off your helmet. You reverse this when you get back on the bike. The variance is also not that high on this number.

For a car, the mean time varies greatly from location to location and the variance is much higher. You might get stuck several minutes searching or waiting for a parking spot or you might get a spot immediately and be walking to the shop in under 15 seconds.

These differences have some effect on how much people want to bike/drive. I think one way of encouraging biking more would be to work on lock designs and bike stand design so it takes less time to park your bike.