He didn't say it replaces biking. He implied that it replaces the need for bike lanes.
I can see that as being plausible, assuming self-driving cars become required. We won't need bike lanes to provide safety for cyclists then because the self-driving cars will be good at not running into cyclists.
If that's the case I disagree, even if self driving cars were flawless I would want to have signage that makes my interaction with the self driving cars obvious and obviously safe.
I can see that as being plausible, assuming self-driving cars become required. We won't need bike lanes to provide safety for cyclists then because the self-driving cars will be good at not running into cyclists.