So I think this could get confusing because not everyone defines efficiency the same way. When I discuss efficiency I'm talking purely into the kettle efficiency -- how well did the mash convert and how well did you lauter. This determines the amount of sugar in your wort, which is conserved regardless of the volume of liquid, boil off etc.
If one is trying to hit a particular OG, then it becomes necessary to adjust the volume of your batch size to hit the desired value for the given amount of sugar in the wort. For example, had you boiled down to 5 gallons, you would have hit your desired OG.
Once the boil is over, the wort in the kettle has a particular specific gravity. If you leave some of it behind, the rest still has the same gravity you measured, you just have less of it. I prefer to think of this as loss not efficiency but really it's just terminology.
You need to either adjust your batch size up to 6 gallons to incorporate the loss or figure out how to minimize the loss (I would look at this one personally). Could you not tip the kettle a bit to get all the wort you can out through the ball valve?
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