Efficient for me means using the kinetic chain smoothly and effectively. Djokovic's and Federer's forehands are two prime examples of this (for the double bend and straight arm technique respectively). Murray on the other hand loses out on some parts of the kinetic chain, especially the wrist lag, and they do not work in tandem ideally, so he must compensate for that by incorporating more of the larger parts of the kinetic chain into his strokes (leg drive and trunk rotation). These large parts need more energy though, which is why Murray gets tired relatively quickly for a guy in the shape he is (thinking of Murrovic matches here) IMO.
The most efficient strokes use the parts of the kinetic chain as an ideal chain; one part follows the next and build up the force of the prior part and for the next part. Using this chain well, a pro can create a lot of pace and spin with relatively little energy. Problems arise when the transitions between parts of the chain are not smooth, or when parts of the chain are not fully exploited. The extreme example is an amateur tennis player who arms the ball and completely lacks trunk rotation, leg drive, wrist layback, etc.
Murray FH
Federer FH
Djokovic
Federer is particularly efficient at using the wrist lag, whereas Djokovic uses trunk rotation and leg drive in one of the most efficient ways I have seen (he uses it to accelerate his upper body and racquet much better than Murray, which is why his strokes seem more relaxed, whereas Murray looks like he's pushing his racquet forward at times). This difference in their efficiencies comes from their technique IMO.
Their efficiency can be seen as on court results by the average pace and spin they play. Murray plays a similar average pace, but his average spin is much lower, so he is getting less energy into his strokes.
Nadal actually has very efficient technique on the forehand, he merely decides to put a huge amount of energy into it nonetheless, in order to produce his insane forehand topspin shots. This in part has led to his rather poor physical health though.
Nadal FH
This is just my personal analysis though.