This paper proposes an efficient I/F control method for single-inverter dual-parallel (SIDP) permanent magnet synchronous motor (PMSM) drive systems. The stability of the SIDP PMSM drive during I/F control is analyzed using root locus analysis. Conventional I/F control operates the motor at the rated current, which leads to limitations in efficiency and degraded stability during control mode transitions. To address these issues, a current reduction technique is applied by controlling the angle between the I/F reference frame and the synchronous reference frame, thereby minimizing the current magnitude and ensuring stable mode transitions. As a result, the current magnitude during the initial startup period is reduced, improving both system efficiency and stability. The effectiveness of the proposed method is verified through experimental results.