The modal nature of Vim is one of it's key features and makes a lot of sense. If you consider the keyboard the primary, if not singular, means of interaction, then there will be times you want to use the keyboard to type text and times you want to use the keyboard to control the editor behavior. In a "normal" editor, you have to use modifier keys to enter commands. In Vim, you do it by changing modes. It's actually quite powerful but you can't get past your own assumptions about efficiency.