Fair is fair. If a self-driving car is a safer driver than John Doe, but we don’t allow that self-driving car on the road, perhaps we should revoke John Doe’s drivers’ license as well.
We absolutely should. But we should also have alternative ways for John Doe to get around without a car, and we don't.
Car culture in the US has started to evoke that old saw: "If you owe the bank a thousand dollars, you have a problem. If you owe the bank a billion dollars, the bank has a problem."
Our society would be a lot better off if we regularly revoked the licenses of unsafe drivers. But the entire nation is designed around car ownership, so doing that today would be an unconscionable human rights violation.
Outside of super-dense urban centers, there is almost no public transit, and taxi/Uber rides are prohibitively expensive because of the distances involved. Outside of cities, it's not unusual to drive >100 miles on an average day.
And that's on easy mode, when you don't have kids to ferry around.