I was in very bike-friendly Copenhagen last summer and yes, it was nice. I do think in order for cars to move out of cities, we need to focus more on public transportation in the suburbs of big cities, so people could easily access the city without paying an arm and a leg for parking.
I lived in a suburb about 20 min outside of Philadelphia in high school, and It was nice hopping the train in and out, then getting into my car and driving home.