Bikes are actually greener than walking, because if you need to move, they allow you to have a greater daily range for a not much higher footprint (more efficient and 3 times faster).
You say negligible, but what you mean is negligible on a scale of the CO2 emissions we are used to. Human body CO2 emission is just as negligible on that scale.
Ill do some quick maths:
According to the first source on google, an average human burns 3kcal/min walking and 5kcal/min biking at 15km/h, which is about 3x as fast as walking. Considering that, we arrive at a difference of 1.33kcal/min by walking instead of biking. Estimates suggest 1.3g CO2-equivalents per kcal for average consumption (much lower for vegans), so thats 1.73g CO2/min. 100kg CO2 for bike production would take 57,800min of walking, thats almost 963h. An average bike will probably be used more so I guess you are right and bikes are indeed more efficient than walking :D
It's also really green if you die riding one in places where it's completely unsafe to ride one like where I live. You eliminate your carbon footprint completely!
I'm talking about running stop signs, gunning it at yellow lights, not using turn signals, using turn signals but not turning, swerving into bike lanes and flinging open their doors without looking.
Infrastructure like protected bike lanes and robust public transit so fewer people feel the need to drive are great, but bad driving is bad driving.
I lived somewhere with trains half my life ago, it was very nice. I have no trains or buses or sidewalks or even a shoulder on the road. Just fast two-lane curvy backroads with a ditch on the side.