My main point was about efficiency. If you have to slow down anyway, using B mode in the EV will capture as much energy as possible back into the traction battery. If you slow down with the same deceleration in D mode, you will be blending regen and the friction brakes. As long as the B mode deceleration is sufficient for your driving needs, it will be more efficient than D mode. Like any EV with good regenerative braking, you should always use the accelerator to smoothly control your speed of acceleration and deceleration according to the traffic conditions. The brake pedal is only for complete stops or slowing down faster than the regen allows.
The other thing you need to know about the RAV4 EV is that it was a compliance car. They used as many common parts as they could from the RAV4 and Prius as they could. The gear selector lever is clearly one of these parts that came straight from the Prius parts bin. Since the lever had a B mode, they chose to implement it on the EV in a similar manner as the hybrid.
Now, if you're talking about the bad habit people develop in gas cars of just blindly lifting completely off the accelerator to coast and continuing to use that approach in a hybrid or EV, then sure, B mode will be less efficient because the driver didn't really intend to decelerate that much and really wanted to coast.