Bicycles are highly efficient themselves.. perhaps so efficient that they hide too many cues that riders would use to become more efficient.
And while the study might be flawed by using trainers and such if you try to study stuff in the real world with cyclists there's probably too much noise in the signals with all the strange stuff that goes on with cycling, like weather, traffic, group riding, etc..
The Lance Armstrong results showing him becoming more efficient in disagreement with the newer study could have been highly flawed as well if he was "protected" more by his team even in training as his career advanced, which we know he was. To say nothing of his ever changing cocktail of PEDs.
I do think any competitive rider will become more efficient after a year of coached riding with the benefit of a power meter & electronic tracking. Every pro today has that of course.