When posible, 20% or more. An unexpected head wind can really eat range.
8% is my goal, and here's why:
I charge to compensate for whatever conditions are on the next leg. So, a familiar route, nice weather, no known surprises, then the only consideration is how fast do I want to travel. But I'm shooting for 8%, since 7% is where the "drive slowly" warning comes up (when it pops up, it's a great wake up call that the speed needs my attention).
For 65mph, I'll charge until 10% shows at the next destination, and more for higher speeds (maybe 20% for 75-80mph).
Then, I monitor that value the whole way. You want to make corrections early, so for a 65mph drive starting out at 10% remaining at the destination (or next Supercharger), I want it to ultimately drop to 8%, however I'm comfortable if it stays at 10%. If it rises to 11-12%, then I speed up 5mph and remain at that speed until it either drops back to 10%, or increase another 5 mph if it keeps increasing.
The reverse is true, also. If I start at 65mph, then see the destination % drop down to 8-9%, I need to slow down and monitor. Maybe there is a surprise headwind, or low tire pressure? If it keeps dropping, I slow further; 55mph, or 50mph. Whatever it takes to stay above 7% remaining.
If I'm within "attack range" (maybe 10-20 miles from destination with known charging or next Supercharger) within an urban area (lots of options for electricity and tow trucks), I'll let it drop to 3-4% by driving faster.