And now to answer your question awefulspeller. The answer from that paper is crystal clear, the answer is nope, it uses a tiny amount of electricity compared to other things in the car. I could answer the question for you, or make you read this research paper:
https://www.researchgate.net/publicatio ... ing_system
Since I have a bit of experience reading research papers - I'll save you the trouble. The power steering electric motor uses tiny amounts of electricity for very short periods of time. It only uses electricity when you try to steer the car - running down the road with no turning input costs zero energy. When you are turning, the motor uses at most 0.6 amps for tenths of a second at a time.
The research paper talks about a control (PID) algorithm that could reduce that electricity use even more. It is a simple solution that only requires programming, not a new motor or hardware.
And like another person said, try to turn the steering wheel with the car not moving and there is no power steering. It is incredibly hard to do.
A far better path would be to use something like an old Volkswagen Beetle heater - one that ran on propane - to heat the interior of the car. But they wouldn't do something like that, it creates some level of pollution. And actually another way to heat the battery when it is cold outside. That uses far more energy than anything else.
2014 Platinum White FFE (Turning in mid Dec. 2016 25,000 miles)
2013 Ingot Silver FFE
2012 Titanium ICE Focus
2014 Tesla Model S 85