What do you think any safety laws are based on? In fact, many laws are based on a cost/benefit analysis. Food standards set by the health department are based on cost/benefit analysis. No smoking laws for buildings are based on cost/benefit analysis. Safety inspection laws (cars, safety seats/devices, equipment, etc.) are based on cost/benefit analysis. Speed limits. Drinking age laws. Texting/talking on cell phone while driving. Some states have laws called "failing to give full time and attention" to driving (covers reading and probably putting on makeup), even if the person is able to do the activity and drive well.
Your freedoms are always limited by their affect on others. Those limits become laws when your actions cause more harm to others than is determined acceptable when compared to the purpose of the task you are doing. Not wearing your seatbelt affects others, whereas having to wear your seatbelt doesn't really harm or affect your ability to do things necessary in your life. It is merely an inconvenience.