No different from any other smooth-riding car. When I first got my Prius I found myself tending to go too fast because the car feels like it's going slower than it really is. You learn to judge by the feel and the scenery going past you.
I glance at the speedometer from time to time. (I'm short enough that I can see the speedo in the Roadster.) A bigger problem in the Roadster (and maybe the Model S will do the same to a lesser extent) is speedometer lag when accelerating. If I floor it from a stop until the speedo says 35 (the limit on most streets here) I'll actually be going over 40, because it takes the speedo a moment to catch up. I learned that if I floor it I have to let off the pedal when the speedo says 30, or in a 25 mph zone I have to let off when the speedo says 20.
The Model S is quick enough that there might be a similar issue. But who wants the car bonging at you every time you go a hair over the limit?
Any new car will take getting used to. Be careful for the first wek and after that you won't need the bong, as long as you're paying attention to your driving, which you should be doing anyway.