I just opened the book "Chess kaleidoscope" by Anatoliy Karpov and Evgeniy Gik, and the first diagram which I saw
was that by Sam Loyd, where three queens and two rooks control the chessboard

So it has the score 3.
On the other hand, we can show that the least score is bigger than zero as follows.
Suppose for a contradiction that a set of distinct pieces controls every square of the board. We assume that pieces are transparent, that is if a piece stays at the control line of a long-ranged piece, then it blocks from the control no squares of the line. Then we place the missing pieces at any free squares of the board, keeping the board control.
Suppose first that the queen and the bishop are placed at the squares of distinct colors.
Let C be the color of the knight square. Then there are 32 squares of the color C, but it can be shown that among them are controlled at most 25 by the queen, the bishop, and the rook, at most 4 by the king, and at most 2 by the pawn, so at most 31 squares in total, a contradiction.
Suppose now that the queen and the bishop are placed on the squares of the same color. Let C be the other color.
Then there are 32 squares of the color C, but among them are controlled at most 8 by the queen, at most 8 by the rook, at most 8 by the knight, at most 4 by the king, and at most 2 by the pawn, so at most 30 squares in total, a contradiction.