yeah, if you're going to haul something, max 'em.
if you're just driving around town, I learned a little trick years ago when I got in the tire business...
1. Set your tires at max sidewall pressure
2. Take a tire crayon strike three lines 120* apart across the entire face of the tread
3. Drive the truck a few hundred yards
4. Get out and look at the lines
A. If you can see the ends of the lines, decrease the pressure 5psi
1. Re-draw the lines
A. Drive a few hundred yards more, check the lines again
repeat step 4 untill a new line is completely erased in one pass
There. you now have the optimum pressure for a flat footprint on the pavement.