The existence of ATMs in several countries is only to overcome the problem of difficulties in transactions because when making a transaction not everyone receives payment in the form of bitcoin so that this ATM is very necessary to convert bitcoin into money.
Yes the thinking of be kind to be printed in the currency notes will be good to improve the Bitcoin value and the popularity also very easily but with swelling printing the currency to normal currency it will be make the uniqueness to be normal for Bitcoin.
The i did like to ask is; who will print the Bitcoin currency note? Will other country allow the United State(USA) to create the Bitcoin currency note just because they are the world leader?
For Bitcoin to ever exist in currency notes is not achievable now or even in the nearest future. Bitcoin ATM are there to make the transactions simple and easy for holders to transfer or to buy from exchanges without opening the computer or phone.