Cars and bikes mix better than bikes and walkers. Which is to say not very well. Walkers move in unpredictable ways and freeze when a bike is heading at them. Bikes move more like cars - they get a bit better handling, and are not as fast, but overall they act like cars.

I wouldn't want to bike when there are many cars in the same lane as me, but it is still safer than biking on sidewalks where are many pedestrians.