I'd ditch 90% of my car use for a bike if I felt safe doing it... but most places in the US you really aren't. A quick google search shows bikers are 2-10x more likely to die per mile, though I didn't delve too deeply into it.
For sure there are some cities where biking is terrible, but I am not sure it’s a “majority”. It also takes some awareness to ride your bike safely in a city, but actually, doing anything in a city takes a bit more awareness and caution.
Is it possible that you could avoid death while cycling by improving your cycling skills a bit? You could join a group of (still alive) cyclists to learn the ropes.
That's like two dozen+ people without a single exception to the contrary. Yes, it's anecdata, but it's quite a lot of anecdata with a strong signal to noise ratio.
Bike infrastructure cannot share with cars given the magnitude of the consequences when the two vehicles interact unintentionally.