Note that he included as an option leaving well before the storm hit. And there was plenty of warning on this storm.
It's not as simple a decision as you're making it out to be.
https://en.wikipedia.org/wiki/Hurricane_Rita#Evacuation_deat...
Probably what should have happened (I'm using my perfect hindsight here..) is they should have told people living in low-lying areas to either go live with relatives or friends who were on high ground, or leave town altogether. And everyone else to stay. This would have prevented the mass exodus that clogged roads during previous storms, but gotten more people to safety.
Despite what I said before, I agree it's a really tricky call, especially for authorities considering a mass evacuation, which is often not the best thing. Houston has a lot of people, that changes everything.
I'm not sure what degree of freedom you're supposing they have, but not everyone is able to uproot their life on some survivalist kick. Plenty of people have their roots and networks where they are, so "just don't live there" isn't a universally applicable "fix".
I've been fortunate enough to be able to move to a place ideally suited to my needs (and as I don't need much I suppose I could move on relatively short notice if needed) but even I recognize that not everyone can afford to follow suit.