It's because the streets were originally for pedestrians. Cars invaded the space previously used by people walking. Why does wearing a big box give you the right to own the road? By that logic I should be able to ride my bike on the footpath and blame any pedestrians I hit.
This is not historically correct. Streets exist for carts and chariots and carriages. These are drawn by horses, oxen, mules, donkeys, and stranger things.
Those were probably killing jaywalkers in ancient Rome.
Pedestrians only need paths, which may have staircases and stepping stones.
