"1) Bass Extension
2) Efficiency
3) Small Enclosure
The law is that you can only have two of these three attributes in speaker building. Ideally we would want all three, we want speakers with good bass, can play really loud, and are small. Unfortunately we cannot have all these."
Efficiency is irrelevant with modern amplifiers and capacitors. Even avoiding hiss and the "bad sound" of Class D, Devialet, Elac, and others use ADH or BASH amps that have a Class D power supply with a Class A or Class AB amp output with the associated advantages, minus heat.