Without a car, everything transportation related has to be planned and weighed.
I moved to Tokyo 5 years ago. If I want to get somewhere, I walk to one of three train stations within a 10 minute walk, hop on the train, and am there in – usually – about 30 minutes. There's always the option to take a taxi, but they're often no faster than train. I can still drive out to the mountains if there's no train to the one I want to climb, because there are more car rental shops within walking distance than there are train stations.
Sure, there are cars in this city. They're useful tools that make a lot of sense for many people to own. But the average person chooses to live without one, because in a city designed for people instead of cars, life can actually be better that way.