Seems like maybe our ability to find and divert these asteroids might make all that burning of energy worth it, no?
Presumably this is based on a belief that humans are likely to go extinct. I don't agree; I think we're extremely unlikely to go extinct and, following from this, an impact is definitely something worth worrying about.
It doesn't even have to be a "planet-killer," a smallish impactor could wipe out a city.
Smaller pieces burn up more readily in the atmosphere and create smaller impacts (I believe exponentially smaller)