Yes, the argument is that the entity providing the insurance is surely earning more income that they are paying out since in addition to payouts, they also have overhead costs and must be profitable. Said another way, their customers are paying more than they receive, on average. That's a mathematical and economical certainty.
You are right that it might still feel better to you to pay regularly instead. That's subjective.
Knowing that you will likely end up paying less in the long term if you don't pay the insurance might help getting over that feeling, but that's a personal choice in the end.
It's bordering on insurance fraud and I usually trade-in my devices back to Apple so I don't bother with it; but there's probably at least one case where both you and Apple come out ahead financially.
AC+ includes what they call "Express Replacement Service", where you will send you an entirely new device as part of your claim, and they'll reuse your old one for parts.
If you _just happen_ to accidentally fall with your phone in hand right after the new ones come out, the delta in price between "a scuffed up, used 1-year old phone" and "brand new refurbished device from Apple" is higher than the price of the insurance and incidental damage fees.