Speaking for myself, I don't think things must remain as they are merely because it was decided so in the past: I fundamentally think it was the right decision. While optional requirements fit in with the overall dynamism of Objective-C, I don't think it fits well with Swift. I think in terms of user experience for conformers, requirements-with-default-implementations is virtually identical: you declare a conformance, and then see what requirements the compiler makes you implement.
There is, perhaps, a slight degradation of experience for folks who operate by first pulling up the protocol definition and looking at all the requirements, copying them over, and trying to implement each one. So from that standpoint I see the value in having something attached to the requirement declaration. But I pretty strongly feel that the pattern of 'condition the protocol client behavior on whether or not the conformer implemented a particular method' is confusing unless there's an 'obvious' no-op behavior, in which case it should be easy to provide a default implementation.
I'm kind of meandering here but I suppose that the upshot is that I wouldn't support a simple 'have first-class optional requirement support for protocol requirements without @objc' proposal, but I can at least see an arguable case for a version of this proposal where optional on a non-@objc requirement means 'protocol author promises to provide an unconstrained default implementation for this method, and it's an error if no such default can be found'. Of course, this would make optional amount to little more than glorified documentation which protocol authors could choose to apply or not, and so I'm not sure the juice is worth the squeeze at that point compared to the status quo: expecting protocol authors to note the optionality (and default behavior) of a protocol requirement in the first place!