People have pointed out that most people can use bikes for pretty much everything, but obviously there will be a need for the occasional car. Some people will need to use cars more, other less. But if you make the simple mindset change of first planning to bike there and then falling back to the car if you deem it infeasible, we’re already most of the way.
Most of the safety concerns for bikes disappear as soon as a certain amount of bikers are in the streets and the infrastructure isn’t actively hostile to them.