Sorry but this statement is not true. Compare NYC today vs 1980s or earlier. There are more bike lanes, parks, walking paths than ever before. Roads in Manhattan are narrowed frequently to allow more pedestrians.
The west side highway is amazing for biking, I love it. Just because it is not Copenhagen or Amsterdam doesn't mean progress isn't made.
source: Lived in Manhattan for 20+ years. Own a car, bike regularly and walk to work.