Yeah, I think I’ve seen a statistic that getting hit by a car going 30km/hr, you’re probably going to be fine. If you get hit by a car going 50km/hr, you are most likely going to die. I can’t think of any reason to allow cars to travel over 30km/hour in urbanized areas, outside of designated arterial roads.
I assume by "getting safer" you mean that they're getting safer than they used to be, which, I suppose I agree. I don't know what you therefore think is "happening already", though. I see no indication that autonomous cars will ever be safer than human drivers.
Then the cars are safer both for the occupants and pedestrians/cyclists, so paradoxically people might be more inclined to walk or cycle.