swimming efficiency question

I've never been a great swimmer (and have in fact never taken a lesson so don't know proper...well, anything), although I've been doing triathlons for 8 years. I just watched Terry Laughlin's 'Total Immersion' (Part 2) and am absolutely fascinated and determined to get much better by trying to learn what he suggests.

However, while watching the part of him swimming in the pool, I noticed that his kick-stroke coordination was such that when he kicked his left leg he drove his right arm into the water and when he kicked his right leg he drove his left arm into the water. Is this combination the most efficient and able to generate more power than right kick right stroke or left kick and left stroke? Since I have decided to start from scratch with my stroke, I want to make sure that I am re-learning the most efficient way.

Thanks!