We derive the weight function w(M) to apply to dark-matter halos that minimizes the stochasticity between the weighted halo distribution and its underlying mass density field. The optimal w(M) depends on the range of masses being used in the estimator. In N-body simulations, the Poisson estimator is up to 15 times noisier than the optimal. Implementation of the optimal weight yields significantly lower stochasticity than weighting halos by their mass, bias or equal. Optimal weighting could make cosmological tests based on the matter power spectrum or cross-correlations much more powerful and/or cost-effective. A volume-limited measurement of the mass power spectrum at k=0.2h/Mpc over the entire z<1 universe could ideally be done using only 6 million redshifts of halos with mass M>6\times10^{13}h^{-1}M_\odot (1\times10^{13}) at z=0 (z=1); this is 5 times fewer than the Poisson model predicts. Using halo occupancy distributions (HOD) we find that uniformly-weighted catalogs of luminous red galaxies require >3 times more redshifts than an optimally-weighted halo catalog to reconstruct the mass to the same accuracy. While the mean HODs of galaxies above a threshold luminosity are similar to the optimal w(M), the stochasticity of the halo occupation degrades the mass estimator. Blue or emission-line galaxies are about 100 times less efficient at reconstructing mass than an optimal weighting scheme. This suggests an efficient observational approach of identifying and weighting halos with a deep photo-z survey before conducting a spectroscopic survey. The optimal w(M) and mass-estimator stochasticity predicted by the standard halo model for M>10^{12}h^{-1}M_\odot are in reasonable agreement with our measurements, with the important exceptions that the halos must be assumed to be linearly biased samples of a "halo field" that is distinct from the mass field. (Abridged)
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