Road space is currently unmetered. Parking space is also often unmetered or underpriced. Should it be the same price for everyone to drive 18-wheelers and RVs and cars and mopeds into the center of a city? Bicycles are the most efficient mode of transportation in terms of energy, except for the densest urban subways.
Cars are a local maximum of utility that doesn't require much coordination or planning. They took advantage of pre-existing public roads and then crowded out all other road users, and subsequent roads were simpler to design and plan for cars than for mixed use with other road users.