"Just letting the car roll" results in deceleration, but at a rate chosen by physics rather than you. If deceleration is not what you want, you have to continuously apply power. If it is what you want, it's still almost never going to be at the rate you want, so you still either have to apply some power or apply some braking. In the former case, you're pressing down on the pedal enough that no regenerative braking is happening. In the latter case, regenerative braking is obviously more efficient than friction braking, because the latter has 100% losses to heat.