As Bob posted, using "B" will actually end up wasting a bit of energy. "B" forces use of the engine for braking as well as regeneration. So you will loose some regeneration energy (because the engine braking dissipates the energy, not the regeneration). You WILL notice better braking performance, but at a loss of recoverable energy.
There is one exception. When the SOC (state of charge) meter is at full green, the car can't use regeneration to charge the battery (though it can use it to spin the ICE - internal combustion engine). So use of "B" when the battery it displayed as full, will probably not loose you use of energy because the system can't store it anyway.
The trick to recover maximum energy is to anticipate when you will have to stop at least a block in advance. Brake slowly using gentle pressure. This will maximize the times you will actually not have to stop, as the light will change before you get there, and will maximize the amount of energy you will recover to the battery.
Be aware, the "recovery" of kinetic energy through regeneration is only around 50% efficient (an estimate from those with instrumentation). The motor generator is only perhaps 80% efficient. Battery charging is only perhaps 70% efficient. And finally, when you go to use the electric energy, removing the energy from the battery is not 100% efficient, and the motor is perhaps 80% efficient at using the energy. To make matters a little worse, you can't recover the last bit of energy (below 7
MPH vehicle speed) as regeneration shuts down and friction braking takes over.
You shouldn't worry about the Prius brake wear. If anything, they don't wear fast enough.