Likely this is under software control. The same happens when you turn the steering wheel of a car with power steering; the idle speed will be bumped up a little. You should really think about the energy lost in driving the belt, tensioner & bearings here. That isn't nothing!
In this case it's a 33 year old car, the only software is in the Bosch LH Jetronic ECU and the EZK ignition box. I'm intimately familiar with the hardware and know that the only input to the ECU that responds to this sort of thing is a signal that tells it when the A/C is switched on and bumps the idle up slightly. Beyond that it is simple closed loop control using the RPM signal from the EZK box which the Jetronic ECU uses to PWM the idle air control valve that bypasses the throttle body.
Yes the amount of energy lost in the belt is significant, especially as it uses V-belts which are significantly less efficient than the serpentine belts that came into common use a few years later. There are all sorts of losses throughout the engine, accessories and drivetrain, that's not really the point. My only point here is that the headlights consume energy, and across millions of cars that energy adds up to a considerable amount, many megawatts even by the most conservative estimates. That energy has to come from somewhere, and it comes from the fuel burned in the engine. It is a very small amount of energy relative to all the other losses, but it's still a lot of energy. I'm not even arguing that it makes sense to legislate it, but likewise I don't think it makes sense to have the headights on when they are not needed. On a bright sunny day the increase in visibility is minimal at best, and once daytime running lights became common they stopped standing out anyway.
I got curious and did some searching and came across this:
https://auto.howstuffworks.com/fuel-efficiency/fuel-economy/drl-gas-consumption.htmLooks like the estimate is a penalty of 0.5% to 1.5% increased fuel consumption. You're probably not going to notice that in your wallet, but spread across hundreds of millions of people it adds up. Of course if we want to reduce fuel waste there are almost certainly bigger fish to fry, but that doesn't mean the small fish don't exist.