Surely there should be a balance? I'm always bemused by dog owners who think dogs shouldn't approach other dogs etc. Fine if specific dogs have issues, however, in general dogs are social creatures, like to meet other dogs and play with them! Sure you can train them out of it, just like you can a child, doesn't mean it's right or healthy for the dog, like it wouldn't be for a child, just convenient for you and others who think like you.
Obviously they do need to be well trained though.
My dog walks off lead. She approached other dogs and sometimes people. She doesn't run up and bounce, she trots along wagging her tail and looking back at me to check. This is how she makes doggy friends to play with.
With people she approached it's never head on, it's a casual trot in their direction and he doesn't actually go to them unless they respond to her being so near them. Aside from the odd occasion, often with little kids, when she'll just gently place her ball near their feet and wait to see if they'll play with her!!!
Nobody has ever complained about her approaching, everyone seems to love the deftly friendly doughnut. So to me it's balance. Just look at the owner of you see a dog coming, I always look at owners and non dog owners, looking from my dog to them so they know I'm in control. That may make you feel a bit more comfortable or give an owner a sign that you are not comfortable! Don't wait until the dog approaches to signal is some way!!
BTW my dog has excellent recall and won't move out of my view anyway, dog approaching doesn't mean there is no recall.