Either way, like I said, JSONB and BSON are solving slightly different problems—you probably would not choose BSON if you don't need the extra data types, and if you do need the extra data types JSONB can't help you any more than JSON can.
But this also affect decoding. Not prefixed with size means the memory size you need to allocate is unknown at the time of decoding. You may need to allocate more than required amount of memory or grow on demand if you don't know the size at the time that decoding starts.
Beside this, BSON is also an exchange format. There is full spec and you can use it outside of mongodb. (For example, you need to write an object that contains ArrayBuffer to disk? Just serialize it as BSON and write to disk.) While jsonb in progress is just a DB internal representation, you don't actually see the binary format anywhere.
I don't think so. Arrays and documents store the number of elements before the data and don't use a terminator value. Only element names are nul terminated strings.