I am both a driver and a pedestrian as I imagine most of us are.
When I'm driving I keep an eye out for pedestrians, especially in areas where they might cross, eg on high streets. I don't beep at them or behave aggressively in any way, I often stop to let them cross etc because I think that is the right thing to do. It's easier for a car to stop and start than a person, it's climate controlled in a car, and "lost time" is made up quickly.
I see others driving and of course as a pedestrian I think a LOT of drivers only have half an eye on the road a lot of the time or are not very good drivers, aren't driving with the anticipation that something might happen at any point. I think they go along assuming that others will get out of their way, you see it quite a lot with people who don't stay on the correct side of the road fully if they have a big car etc.
Anyway, I also think a lot of drivers are very scared of hurting someone, and know that their driving is not always great, and that they get distracted, and this comes out as a sort of aggression against those they would potentially injure. So pedestrians, and especially cyclists. I think so many drivers HATE cyclists is actually becasue they're scared of hitting them and so they have this sort of pre-emptive anger towards them.
So bottom line is that in a fight between a pedestrian and a car, the car is going to win. People can and do cross the road at all sorts of places - lots of places don't even have crossings, lots of places they seem to have planned the crossing to cause maximum bother to the pedestrian... It is a resonsibility as a car driver to anticipate this FACT - that people are people and do this - and to drive accordingly adn not go around thinking - what even is it - I own the road you're in the wrong if you get killed it's your fault, from the perspective of 1/4 to 1/2 ton of metal vs some flesh and bone and maybe a pushchair.