Well that goes with common sense too I guess. In a Hiway vehicle yeah, 5 or 10 psi below the maximum is usually more than enough. But then again, if you load it up for a trip across the country you should definitely raise the air up a bit. In general air it up for the usage you're driving most of the time and the tire wear should be good. I used to drive quite a few miles so I kept an eye on the wear. With my PU and trailer when loaded I did find that it handled much better at the max rated psi.
Off road smaller UTV and the like usually the tires have a much stiffer sidewall anyway and it's not like you'll be doing 70+ MPH with it for hours on end.