You might get valuable feedback from a Scangauge if you're so inclined. I can watch the fuel consumption by the second and see that if I'm going up a slight hill in 5th gear, if I put the pedal down halfway and it keeps 5th gear, I'm not going any faster but I'm using twice as much gas and I can hear the transmission trying hard. Little behaviors like that make the difference between 40mpg and 35mpg.
The general rule I follow is: Get up to 40-50 MPH as soon as practical (even if I jump off the line for 5 seconds) and stay there in 5th gear most of the time. The car's not as efficient at low speeds... below 40MPH the RPMs are too low to give it much effective torque, and above 60MPH you have the traditional falloff but even at a constant 80MPH the car's more efficient than it is in city stop and go traffic. If you can anticipate traffic and lights to the point that you rarely have to use the brake or change gas pedal position, you'll get about the best you can. It depends on what city you live in and your commute type, though. Revving above 4000 RPMs won't get you very far for the gas it consumes but in a short burst coming off a green light, your speed gets up to optimum range sooner.