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I think your use of the term "efficient" might be in error. It's far more efficient to use a default file system that's standard the world over and works for 99% of all uses it's promoted to have.
If Android defaulted to re-formatting sd-cards to ext*, for example (a much better file system), no Windows PC could read them. More complaints from users. It could use HFS (mac), but then Windows and Linux users would have extra steps to read the card. Imagine the problems when someone plugs in their phone via USB, turns on USB storage, and their computer can't read their card.
If Google included a format command in the settings, you'd get more complaints from normal users who couldn't care less what a filesystem type is. "I accidentally erased my sd-card." Or more likely, "Android deletes all my stuff." That would hurt the entire OS's reputation.
You worry about using a PC with your mobile device, but I doubt you're downloading 4GB or more of movies over phone data. You're going to transfer it to the card somehow--probably via USB or a card reader. Using a default format that any PC can read is a good thing.
Face it, when you move into filesystem limitations, you're no longer a "normal user" and have moved into "power user" territory and should rise to the challenge of taking the steps necessary to have the device do what you want. The very fact that Android ALLOWS you to make it so is a mark in its favor.
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