I think if we had actual people on the ground engaging the enemy using traditional warfare, it's pretty much a given there would be more casualties on both sides. From that standpoint drones are preferable --they offer an asymmetrical aspect to the war, so it might seen it as unfair, but that's beside the point as IEDs are seen as unfair as well. With UAVs Fewer friendlies die, and fewer civilians on the enemy side die due to the more precise aspect of the engagement. Even with the misses, drone engagement results in fewer casualties for both sides.
Look at it this way, if the US had had drones during the VN conflict, the US would not have incurred 50,000 casualties and the VC would not have suffered ~2,000,000 casualties. We'd have gone after the Võ Nguyên Giáps of the conflict.