Quite right, though there are alternatives as mentioned: taxis, Uber, hop on hop off sightseeing buses and hotel shuttle buses. And (not mentioned) certain train services including to/from Simon's Town to pay respects to the penguins at Boulders Beach.

And, noting your location, if you're at all into sea bathing, you may as well forget the fine but cold Atlantic beaches and drive over to the Indian Ocean beaches for less of a shock.