For me personally I don't think it's fine to go anywhere without wearing a helmet. I fully believe wearing a helmet has protected me from serious head injuries in the past and because of that I have a very strict no helmet-no ride rule. In fact I won't even sit on a bike unless I'm wearing head protection. So yeah, for me I do wear a helmet for pavement riding and any other kind of riding because if I don't have a helmet, I simply won't be on a bike at all.