i don't really know how much faster or efficient i am with clipless pedals vs. platforms, but i do know that i ABSOLUTELY LOVE the sensation of being locked onto the pedals. it makes me feel like i have much better control of the bike overall, not having to ever worry about an accidental pedal slip. i can stand up and push as hard as i want to and i know that my foot is always gonna stay secure right there on the pedal. it's a confidence thing.
it's also a psychological thing. with clipless pedals i feel like me and the bike become "one". i've been riding with clipless pedals for 3 years now and last summer i borrowed a bike while on vacation that had regular old platform pedals, and i hated it. i didn't feel like i was really riding the bike, or rather i didn't get the sensation that the bike was just an extension of my body like i do when i'm locked in with clipless pedals. for daily commuting, for centuries, for weekend recreation rides, for running errands, for whatever it may be; if i'm riding a bike, i want to be locked in riding clipless. it's the only way to ride as far as i'm concerned.