I don't think that is exactly true.
DRAM from SDRAM up has had a number of mode registers to control the ram. More info here: http://en.wikipedia.org/wiki/Synchronous_dynamic_random-acce...
Exactly. ...here's the table for command accesses on DDR4, including the mode register you referred to.
Other RAMs/Flash with different interfaces (e.g. SPI) require a prefix command to be sent over the wire, so it's easier for them to implement things like chip id commands.