Am I doing this wrong? Is bike riding better than walking?

I used to be really active doing other things, not working out specially. I just started working out a few months ago. But then I started walking 3-5 miles a day with my dog. Then I wanted to get more flexible so I started doing yoga. But then I wanted to get more tone so I started doing Pilates. I’m going to switch from walking (I hate running but I make sure I run until my side hurts every time which honestly isn’t far) anyway, I’m switching from walking to bike riding.

Is bike riding better than walking? When I was riding my bike my legs got really tone. I am not working right now so I have time to be really active and I miss it. But will it be bad to do all this? It isn’t long. Walking takes like an hour and everything else takes like two and a half.