Getting your bike dialed makes a huge difference in comfort and efficiency. At the very least, get your handlebars and seat in the right spot (yours probably aren't). From positioning cleats to funky stuff like what to do if one leg is longer, check our information to maximise muscle teamwork, balance, and cut out injuries.
Riding with high comfort and efficiency requires a properly fitted bike. There is a lot of misinformation floating about, saying that none of your weight should be on your arms, or that saddle height doesn't matter, or that the handlebars should be as high as the seat, but this information comes from well-researched books and studies by experts.
While everyone is different, and these recommendations only represent the norms, these are the best estimates from experts who have done experiments involving hundreds of people, so give the standard settings a good long trial before changing them.