Don't get me wrong; I wish we were less car-dependent too, but it isn't going to happen in our lifetimes. Cars are too deeply ingrained in American culture, and Europeans bragging about their cities isn't going to change that. Not to mention how massive the US is! We have states (California and Texas) that are larger than over half of the European countries.
Based on the track record of most of the demographics I see pushing for improvement I fear we'll wind up with some hellscape that combines the worst of both.