Set your children free. Turn your travel together into a positive experience. Children breathe cleaner air on bikes than in cars or buses (source) - and they love it.
You can carry your child by bike from the earliest age. Your first requirement will probably be the nursery run. Then there are holidays. As they grow they can progress to pedalling for themselves. Eventually they will fly the nest on a bicycle of their own.
Shed no tears! Your work is done.