You don't have to use chains though, you can have pedals on the front wheel, like the original bikes(velocipedes), or not pedal at all, just push yourself on the ground (balance bicycles)
Penny farthing bikes are death traps. Bikes that have similarly sized wheels with pedals on the front wheel aren't practical enough to be better than walking. Bikes without pedals are also not practical.
They were both more efficient than walking. Humans will put up with death traps if it means more efficiency in transportation (just look at car fatalities). The only reason they didn't took off faster was the lack of roads. And by the time we had tarmac roads bikes already evolved to have chains and read drive.
Watch a kid on a balance bike and tell me how it's not practical, lol. A 4 year old can bike around a whole park in seconds.
