This paper optimizes the step coefficients of first-order methods for smooth convex minimization in terms of the worst-case convergence bound (i.e., efficiency) of the decrease in the gradient norm. This work is based on the performance estimation problem approach. The worst-case gradient bound of the resulting method is optimal up to a constant for large-dimensional smooth convex minimization problems, under the initial bounded condition on the cost function value. This paper then illustrates that the proposed method has a computationally efficient form that is similar to the optimized gradient method.