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Yes I think efficiency is not a major design criteria for most motorcycles. The focus is more on weight, cost and performance.
Also, bikes (well, more the humans perched atop them) aren't terribly aerodynamic so despite the much less weight, it may take nearly as much power to propel one along as it does a small, aerodynamic car.
Still you have to admire what mfg's have achieved with modern bikes - N/A engines making 200hp/liter, brakes capable of standing the bike on its nose at any speed without power assist, acceleration and handling to rival supercars and all for about $10k while getting the mpg of an economy car.
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