Velomobiles (enclosed recumbent bicycles) have the highest energy efficiency of any known mode of personal transport because of their small frontal area and aerodynamic shape.
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Another reason why railroad transport is better than road travel is the fuel efficiency they offer compared to hiring vehicles. Railways can consume up to nine times less fuel for every ton they carry for a kilometer, making trucks fuel inefficient compared to railroad transport.
It is very true that when moving on flat ground in a straight line, trains on steel wheels and rails are the most efficient form of transportation. Rolling on steel rails reduces rolling resistance and traveling at slow speeds (compared to jet aircraft) reduced the force of air resistance.
If we take an overall view of the transport sector, 71% of transportation related carbon emissions come from road users, whereas only 1.8% of emissions stem from rail travel. So in absolute terms, trains are responsible for a lot less emissions than cars.