After the initial ASIC "gold rush" Bitcoin mining is trending towards decentralization again. ASICs do not mean an eternal approach to centralization, it is just a temporary step along the adoption curve. See https://www.blockchain.com/pools
Also, ASICs are the most energy efficient way to perform proof-of-work.
Proof of work is oblivious to efficiency. Efficiency gains are met by equivalent increases in mining difficulty, since the network attempts to calibrate towards a constant mining rate.
Also, ASICs are the most energy efficient way to perform proof-of-work.