I don't like buses, and I vastly prefer trains over them.
However, I've taken some really, really bad buses (SF), some middle-of-the-road buses (Seattle), and some rather good buses (Vancouver).
If you want to improve bus efficiency, the lowest-hanging fruit is switching the less-used lines to 24-person shuttle-buses. Vancouver uses that model heavily.
The next lowest-hanging fruit would be actually getting people to use the bus. If the reason they don't use the bus is 'it doesn't take me where I need to go', you can fix that. If the reason they don't use the bus is 'only crazies and poor people take the bus', you can fix that too. Transit systems that are used by everyone, as opposed to just 'undesirables' tend to run a lot better.
Also, keep in mind that most cars on the road are $20-50,000 vehicles that drive 75% empty, and spend 95% of their lives sitting in parking lots. That's a damn low bar for 'efficiency' that even a mostly-empty bus can match. Likewise, taxis are vehicles that spend ~30% of their time driving empty, and only transporting 1 person the vast majority of the remaining time. (While costing ~$30/hour to operate.)