Another way, is to give pedestrians priority and expect drivers to exercise due caution to not hit them the same way they do other cars or trains or ambulances or whatever.
In an alternate universe where the laws had ended up with pedestrian-priority being the norm, then you'd be coming in here saying "Cars shouldn't drive freely on the streets! Streets are for people! People have been walking freely on streets forever and now you're proposing we vacate them for the convenience of drivers?" and so on.
So let me ask you this: how are you any more right than alternate-universe-you? Other than the status quo bias that you're defending the way things currently are where you (and I) live.