As Mark Callaghan indicated, the origin of this decision was the MMAPv1 storage engine. There, indexes would map keys to 'DiskLoc' values, containing a pair of 32-bit integers representing the file number in the database and offset in that file. Since then we have replaced DiskLoc by a RecordId that does not represent a physical location, but rather a logical document number.
As you note, we could gain efficiency (both time and space) by using the primary key directly to index the data. However, as MongoDB puts few restrictions on the primary key, it is common for these primary keys to have a non-trivial size. This in turn means that all secondary indexes become less efficient. Some users have many indexes, so they'd be negatively affected by such a change. Making clustered indexes a non-default opt-in means that the large majority of users will not benefit. For clustered indexes to be a win for sharded clusters, one would likely want to cluster on a document key consisting of the shard key followed by _id.
So, implementing clustered indexes is more complex than it may seem at first. If you're interested, please vote and/or watch
SERVER-14569. If you have a specific use case yourself that would benefit in particular, feel free to share that.