IIRC, the issue with lowering a speed limit from 30 to 20 is that in any potential collision, you have to factor in drivers' reaction time before they can slow the car down. If you are travelling at 30mph, and have to react to a situation, you will only be able to slow the car to say 20mph, whereas if you are doing 20mph and need to react, you will, in the same time, be able to reduce speed to say 10mph, hence being safer. There are tables published somewhere that outline all of this, but I don't have them to hand.
It's true that people who want to speed will try to do so regardless, but if all other traffic is travelling at 20mph, it's a lot harder for them. They also take the risk of prosecution, penalty points, higher insurance premiums etc. I think there is also something to be said for lower speed limits altering the social norm - in the same way that 30 years ago children didn't wear seatbelts in the back of cars, now we take it for granted.
It's not just a matter of reducing deaths, but also reducing serious injuries, and not just to pedestrians, but also to other drivers. There are lots of other measures that can be implemented to help reduce speed, such as road markings, use of traffic islands etc.