Different people react differently to different foods, even the same food at different times or under different conditions. His remarks there read a bit like some stuff I've read by the proponents of, variously, vegetarian, paleo and keto diets.
I don't eat breakfast, as a rule. I used to get peckish in the mid-morning, now I don't get hungry until lunchtime. Not being hungry helps me concentrate. I hardly see this as the basis of a new way of life.
We're left to wonder exactly what Rob was cooking for himself when he got off the juice. I support Soylent, but I don't believe you necessarily have to feel this way with only access to mostly whole foods.
Whether or not you enjoy cooking is irrelevant, especially if we stand to gain all that Soylent promises. Soylent won't deprive anyone of the option to cook a meal. If anything it may simply add more value to the act of cooking.
The efficiency is just one benefit of quite a few, many significant.