In fact, 5 of the last 8 years had zero pedestrian deaths due to collisions with cyclists. [1]
[1] https://www1.nyc.gov/html/dot/html/bicyclists/bikestats.shtm...
Are you literally "far more terrified" of pedestrians than cars, or are you looking for a way to appear clever and different than everyone?
Pedestrians pose no threat to me unless I'm breaking the law, i.e. bicycling on the sidewalk, running a red, running a stoplight, etc.
If cars are so safe then just ride in the middle of the street. It's perfectly legal- bicycles are classified as moving vehicles.
But if you want to follow pedestrian rules at vehicle speeds, then it's not going to work so well.
Cyclists are routinely killed by motor vehicles in NYC. It's not even close which one you should be more afraid of. The scariest thing in the world if you're a cyclist is a big truck. They are statistically most likely to kill cyclists. People on foot don't even come close.