I'd make like to make a few points against not learning to drive.
First, just because you're close to public transport does not mean you will always be close to public transport. And let's face it, Australian public transport is shit.
Second, a driver's license is one of the easiest forms of identification to get and carry. This may not seem like much for some people, but I'm a bank teller that has to identify people regularly and trust me when I say that I would get a learners for ID purposes alone.
Third, if you decide to get a car in ten years or so for whatever reason, saying you've been a motorist for ten years looks a lot better to people like insurance companies, than one.
Fourth, a lot of jobs require licenses, and you don't wanna miss out because you don't have one.
Fifth, ROAD TRIPS! suddenly become a lot more possible.
Sixth, there may be other moments when you are forced to drive (like a friend being injured or drunk and needing to get hospital/home). Expect the best, prepare for the worst.
Seventh... I could keep going like this...
In short, I'd recommend learning to drive, for the sake of being able to drive. You don't need to drive, but I think it's a useful skill (and license) to have. And, while I don't want to presume on your context or situation, it's probably a lot easier to get now than it might be later. I try an avoid driving whenever I can, and bus/train/walking it wherever I can, but the option is good to have available and I need a car to get to half the places I work.
It's perfectly fine to not want to drive, I agree with you on a fair few points, but that's different to not knowing how.