I imagine that it's engineered and tuned to deliver best results with a light but steady foot on the pedal... gets the most MPG for the most people that way, resulting in happy customers, good reviews, referrals, and return sales!
Getting low mileage in city driving is more a matter of physics than anything else. No car gets good milage when accelerating to speed and every brake application is burning off momentum that would stay as forward motion (less aerodynamic and mechanical drag) were you cruising at a constant speed. Every engine gets zero mpg at idle, so unless you have a hybrid or an i-stop type system for shutting the engine off and rapidly restarting when at standstill that's going to be a big hit.
But 24mpg in all city driving is hardly terrible, that's about the same that I see in my '08 Mazda3 with the older 2.0L and a manual... sounds like your CX-5 is doing pretty well for being bigger, AWD, and 600lbs heavier.