Typically place the images rather than copy and paste.
Placing is quite simple, drag and drop from Finder/Explorer - or you can use File>Place
I'm not sure how that's lazier than opening up illustrator and copying and pasting it in... seems it would be quicker to drag and drop.
However, I'll often just copy and paste icons in, as I may want to change colour etc as I go along or per section - and it's faster than creating 26 variations of an icon for 1 project.
I'd never copy and paste artwork supplied, logos, complex artwork etc.
One side effect of having lots of vector data natively inside InDesign, with lots of logos, images, etc. copy and pasted into the document is that it can get quite slow and has a negative impact on you moving around the document fluidly.
With placed files - you can control the detail level that shows - either by individually selecting an object and going to Object>Display Performance - or gloablly using View>Document Performance
You can also globally change how vectors are viewed in each preview - here's an article I wrote some time ago
https://indesignsecrets.com/high-res-image-look-low-res.php