I for one do not think that the RPM of the engine matters at all, providing it is not in the red of course.
You must choose the correct gear for every road and traffic condition you are engaging so the bike stays responsive.
If I am doing motorway stuff, then I will be sitting in 5th gear, I will have respect for the fuel consumption, wear and tear on the machine and the heat to be dissipated by the radiator (WOW that is a cool one LOL)
IMO you should not work on RPM for normal riding, you should work on each and every situation you are going through. So, if you are cruising along at 70 MPH, with just a straight line of tarmac in front of you, do you really want to be running in fourth gear with the engine revving at 5,000 RPM for instance, I hope not because your fuel consumption will be high for a start.
However, when you come into a situation or a lower speed limit of say 30 MPH, then you drop the bike into a responsive gear, you must remember that you can accelerate out of danger as well as accelerate into that danger. So if it were me giving advice, stop looking at the REV counter, go with your feelings. If you are in a tight situation, the gear selected should be a low one to give the response. If you are out on an open highway riding at 60 MPH for instance with nothing in front of you, then you should be in 5th gear having regards to bike sympathy. As soon as the road tightens up for a bend or a situation arises, that is when you consider a lower gear.
That is just my dollars worth, but I always think about bike sympathy and the wear and tear on the engine, tyres and fuel consumption. I use the block method of gear changing instead of coming down each gear in sequence, this also reduces wear and tear on the clutch components and also myself.
I have forgotten the last time I looked at the REV counter because I do not ride aggressive any more, but can do if the need arises, but even then, I would not use REV counter, I would go with my feelings, experience and what the bike will actually do for me.