Bezier curve are just nested lerps! A bezier curve of degree 1 is lerp, what we usually call "bezier curve" is of degree 3.

It's a mathematical property that bezier curves (degree n) can be split exactly into two bezier curves (degree n), which is known as deCasteljau's algorithm:

https://en.wikipedia.org/wiki/De_Casteljau%27s_algorithm

That page also features some pretty animations on the "lerpy" part - Bezier curves are really simple, it's just that for some reason they are often presented with lots of math jargon that's completely over the top.

This is also used to efficiently draw bezier curves: subdivide them until they're visually straight lines, then plot those.