In this case I don't think the status should depend on the number of results. Here are you results, [] is a valid response body when there are no result. Returning 404 if there are no result (GET /books?title=a for instance) is misleading, the caller may think that /books is a non existent route and may conclude that books are reachable via another URI. To me, the querystring has no influence on the response status.

/books/1 could return 200 or 404 depending on the existence of the book#1, here it make sense because if /books/1 does not exist the API must tell it explicitly. However 404 belongs to the 4XX family which means "client error", is it an error to ask for a non existing book ? If you enter in a bookshop and ask for a book they don't have you did not "make a mistake". It's not like if you asked for a chainsaw. But in an API, especially with hypermedia, you are not supposed to request a resource that does not exist (unless the API provides a link to an existing resource that is was deleted before the caller try to reach it).