Yes it does, when it prevents a literal plague on civilization.It doesn’t matter. 100% safe and effective doesn’t even make it ok to mandate others do what you want.
It's been Constitutionally settled precedent for over a hundred years. George Washington did it. We mandate things like seat belts and car insurance even though traffic fatalities kill far less people than than COVID19.
It's what happens when you live in a society and have to balance individual autonomy with the betterment or preservation of all the people in it.