Why not?
Why should anyone be FORCED to listen to someone or read their message?
Plenty of "public spaces" have a designated purpose and rules restricting their use. (E.g. The White House, your local high school, &c.) Roads and sidewalks are for getting from one place to another.
ML/NJ
And as long as speakers don't prevent anyone from getting from one place to another, they are within their First Amendment rights to speak there.