Lol, where to even start.
Yes, gravel tires puncture less in general due to lower pressure (as Kool said, better deformation and lower impedance for the entire system). Top headline: the more your tire bounces around (even microscopically), it's not going to transfer the power from your pedal stroke to the ground efficiently.
But also, contact patch is increased, more oval than circle, and you expose less sidewall.
All that said, we're in a gravel tire shake-up right now. XC MTB tires (Dubs, Burts, Ralphs, etc.) are faster than any gravel tire. A 2.1 Thunder Burt is 12w more efficient than a 45mm Pathfinder. The wider you go, the lower the pressure, the more the tread patch interacts with the ground, the less your sidewall is exposed. XC tires have always had super light/thin sidewalls for this reason. Turns out that makes the tire fast.