We probably have to decide if there should be any wild places in this country --- kill all the wild animals and be done with it. Urban sprawl is going on at such a rapid rate that there is not much room for wilderness areas and it's always going to be dangerous for people to hike where the wild animals are.
This is not really a problem with urbal sprawl. We are not invading their territory as much as they are invading ours. Up until the 1940s or so, people were encouraged to kill lions, bears, falcons, eagles, wolves, and coyotes. The consequences of that being that there were very few left, confined to our parks. For the past several decades we have switched to extreme protection, with the result that they have come back out of the parks into any land they can find food. Places like Kansas are starting to see lions for the first time in a hundred years.
As for the special case of lions, we need to keep in mind their instincts. Lions are territorial, they stake out land and kill any lion they find inside it, even their own grown offspring. When lions move into a city it generally means there is no unclaimed territory left in the area. Relocation is not much of an option anymore.