Data encapsulation.
Underscore properties are not allowed primarily so that the developer can't accidentally overwrite View properties that are part of the framework.
This essentially protects all of the framework's View properties and allows you, the developer, free rain over any public properties you wish to set.
The authors of Zend View can then be sure of two things: (1) they control (and author) the private and protected class properties and (2) you control the public properties. This makes for logical data encapsulation and maintainable class overloading.