Besides being faster, with rsync and the right command options you can be certain that it makes exact file copies, together with any file metadata, even between different operating systems and file systems.
I have not checked if in recent years all the bugs of scp and sftp have been fixed, but some years ago there were cases when scp and sftp were losing silently, without warnings, some file metadata (e.g. high-precision timestamps, which were truncated, or extended file attributes).
I am using ssh every day, but there are decades since I have last used scp or sftp, with the exception of the cases when I have to connect to a server that I cannot control and where it happens that rsync is not installed. Even on such servers, if I may add an executable in my home directory, I first copy there an rsync with scp, then I do any other copies with that rsync.