Yes, we'd lose 24 hours, (one day) total over 2000 years if every coastline were extracting tidal energy at 100% effiency.
So instead of the rough 1/4 second we lose a year to normal tidal friction from the oceans, and the Moon/Sun, the day would grow roughly 43 seconds longer.
Solar and Lunar tides does help keep the Earth's mantle and core molten longer, however the main reason Earth maintains it's molten state and magnetosphere is our larger mass and volume, which meant more heat retained from Earth's accretion/formation, (which then reset and started all over again later than Mars did when Earth got blown apart to produce the Moon, then re-collapsed again...) and a larger proportion of radioactive elements/decay which also adds to the heat.
Mars cooled quicker and lost it's Magnetosphere because it's only about 10% the mass of the Earth. About half the diameter, at a lower average density, with a higher proportion of Silicates and less Iron, and presumably less Thorium/Uranium too.
All of which contributed it to it's mantle and core cooling much faster than Earth's did.
Due to it's smaller size, and quicker cooling, Mars had maybe a Billion year, to at least several hundred million year head start over Earth on forming an atmosphere and liquid water on it's surface. Meaning that the first microbes on Earth may actually have been transplants from Mars blasted off on rocks that achieved Martian escape velocity fropm comet and asteroid impacts.