Driving a motor vehicle does endanger peoples' lives, so we (society) decided you don't have the "right" to do it, but you can be granted the privilege to do so pretty easily provided you have the $$ for administrative fees & can pass a test demonstrating basic competency.
Your question is totally reasonable, but I think it's fair to say one has a "right" to bike on public roads (barring interstates) but not a "right" to drive on public roads as this requires a license & is subject to many strict regulations.