It's probably true and for a number of reasons.
- asphalt is softer
- asphalt is what is used to pave "nice paths" (you'll never find a paved path through woods, eg, that is concrete slabs)
- asphalt is continuous (you're walking on a "ribbon" that takes you on a journey, rather than series of tiles that is more for short distance walking, or walking discrete, pre-determined distances for commercial or other task-oriented purposes. In other words, walking on a continuous paved stretch with no clear end allows one to enter into reverie.
There are probably other reasons. The psychology of all this is fascinating. In any case, I think it's definitely the case that if you have a walking and biking path next to each other, they should be the same material, and then you can aggressively paint each one to provide constant visual reminders which is which. The fact that, as I always rant about, Boston transport culture is just so anti-rule and anti-order of any kind is a major issue here, as well. We don't bother to use signage, and people ignore signage when it's there.