I don't drive on the sidewalk, please don't walk in the street.

You are granted the privilege to drive by agreeing to restrict yourself, while in your car, to the road. I make no such commitments or agreements by walking - which is a right granted to everyone equally.

You're welcome to join me as a fellow walker, though, be it on the sidewalk or in the streets. We belong everywhere, cars belong where we are not.

Either that, or I'm willing to agree with you fully, so long as we define the sidewalk as the place where pedestrians are, and the street as the place where pedestrians are not. Which would work fine for me.