That's certainly the theory, but in practice most states don't actually cover the full cost of roads with use fees and need to get taxpayers to fund most of it.
Public transportation often does better in this regard when you actually look at funding by source.
Additionally the people who have the highest usage, freight shipping, invariably have disproportionate influence on lawmakers and can argue that the fees they see should be proportionally lower than others.
Because gas taxes are paid at the pump, we can't actually adjust them to exclude low income persons either, making them a regressive tax.

Public transportation is able to charge a few dollars per rider per trip. Given the density they can move, they can generate unexpected revenue per trip at lower costs, again due to density. A subway car is more expensive than a car, but also sees higher utilization and holds about 100 times more people on average.

Neither is generally able to afford to be built using only use fees.

In the end, even though I don't think we should be reliant on cars, the part I'm least upset about is taxpayers funding a public good. Transportation benefits everyone, even if they don't directly use it. It's big, it's expensive, and doing it right has different incentives from making money.