When we consider public key algorithms, those usually require keys that are much longer than their security level. According to the Crypto++ Security Level page, for example, integer factorisation algorithms (RSA et al.) require 3072 bits of modulus for a security level of 128 bits.
After RSA, we started to have more efficient systems (both in terms of speed and size), like the very efficient (to todays standards) Curve25519 elliptic curve. This curve requires around 256 bits of storage for the public key, and around 256 bits of storage for the secret key for the equivalent security level of 128 bits.
While RSA doesn't accept any bitstring as secret key, Curve25519 (give or take three bits) does. EC can be broken in $\mathcal{O}(\sqrt n)$, which sadly halves the security level.
So, while practically all public key algorithms have longer keys than symmetric counterparts, I wonder whether this is explicitely necessery. In short: is it (provably) impossible to devise a public key system wherein the public key and private key only take $k$ bits, with the security level equal to $k$, the information theoretical limit?
Bonus:
(If the answer to the above question is "yes, it's is provably impossible", this question gets redundant)
Notably post-quantum algorithms (thinking about SIDH) are heavy on key sizes (NTRU takes a few kB, SIDH a few kb). I restrict the above question to post-quantum public key algorithms: is there a (formal) reason for the requirement of large key sizes in post-quantum cryptography?