Yes, Joins are expensive
When it is said that joins are expensive, this typically refers to the situation where you have many records in multiple tables that need to be matched with eachother.
According to that description your join is not expensive, as you only join 2 sets with 1 record each.
But, you must be looking at overhead
Perhaps you notice that the individual counts take significantly shorter than the command which you use to count and combine the result. This would be because map and reduce operations have significant overhead (can be 30 seconds per stage).
You can play around a bit to see whether you hit a plan that does not incur much overhead, but it could well be that you are out of luck as hive does not scale down that well.