I pretty much go to 5th gear as soon as I hit 30, anything below that depends on how quickly I need to accelerate. If I go above 30 I go to 6th gear.
Between 30-40 I find that 5th and 6th gear work fine, so long as I'm not going up a steep hill and simply trying to maintain 30-40. Under these conditions I don't need to use too much throttle either, just occasionally feathering the acceleator. The engine stays below 2000rpm and doesn't seem to struggle, just makes a slightly lower pitched hum when I apply the accelerator. I definitely don't try to accelerate hard under these conditions and will always downshift when I need to accelerate quickly.
My main concern is using the 5th/6th gears whilst crusing in 30/40mph zones and whether it is healthy for the engine in the long term (despite converntional wisdom). Of course the car seems far more responsive if I cruise at the same speeds at 3rd/4th gear, but the higher rpm just seems like a waste, when I don't need extra acceleration power and then there's also the usual "higer rpm equals higher engine wear and less fuel economy, bla, bla, bla" arguements.
Anyway, I'm going to drive up to 3000rpm this week and see how it goes, though not sure how I will measure fuel economy in any remotely reliable and accurate way.