According to the specs, the lights actually go red at 3dB below actual clip. Based on that, tickling them once in a while is probably ok. One of the things that drives me bananas on the Avid Venue consoles is that the default clip indication is on their channels and buses is 6dB below actual clip which really does eat into your "apparent" headroom. The first thing I do when I get on a Venue is set the clip indication to "0dB" where it should be. At least for me, I want to know when I'm actually clipping rather than lied to.
In any case, if you feel that you've lost headroom as a whole and aren't comfortable with occasional red lights on your inputs, by all means increase the gain at your speaker processor/amp/powered speaker inputs to compensate. I do that on my setup when I switch between mixers that have different max output levels. As an example, if I'm using a desk that has a max output level of +21dBu like the DL vs. +24dBu max out on my Venue, I'll boost my speaker processors' inputs by +3dB to compensate so that I'm not hammering the mixer to get max output of the speakers when needed. Conversely, If I have a Mackie analog mixer plugged into the system with +28dBu max output, I'll attenuate the processor inputs by 4dB to keep things matched up.