For the same act, of course a car is much more dangerous than a bicycle.
But, I've never been buzzed by a car going 20mph at a distance of under one foot, and certainly not while I'm walking on a sidewalk. I am regularly buzzed by bikes in this manner.
In general, drivers act with the knowledge that if they even tap a pedestrian, they're likely to severely injure or kill them. They might be sloppy or distracted, but they almost never willfully do this.
I encounter bicyclists playing "chicken" with me on sidewalks all the time. There's a cold or smug look on their face as they ride directly toward me--it's clear that I'd better step aside or be struck.
So, regardless of the actual numbers, cyclists seem more dangerous. I don't think accurate statistics are being collected on this sort of thing, and I think we should start.
(P.S. Have you really seen a bicyclist getting a ticket in NYC? Never seen that in my life. Wow!)