I bought the Rustoleum Epoxy concrete paint but they said it cant be used on driveways. any suggestions?

I think you would need to use the concrete stain. The paint will just pull up from the heat of the car's tires. You can get concrete stain that looks just like paint or you can get it in a semi transparent which looks more like a natural stone when you are through. It's beautiful. The most important thing though when doing anything to concrete is to etch the concrete first. This will allow the stain to sink into the concrete and not pull up. This is done with a product that you can get at Home Depot and you just wash it on, rub it in with a stiff brush and then wash it off after it sits for a bit. Check with your local Home Depot ociate though just to make sure the stain will work, but I think that it will. Also, I know that Rusoleum makes a garage epoxy coating so that is meant to stand up to the car tires. It comes in gray and tan and you are supposed to add these decorative chips to it, but for a driveway, that might look weird. It will be expensive though, it costs about $100 for a one car garage size. I say look into the stain.