Yep, based on my experience and research regarding lithium battery tech, not storing while fully charged or completely empty is important for long life. The other most important thing is to not be afraid of full charges because the battery was designed to give you hundreds of kilometres of range. What's the good of that if you only ever charge to 80%? I wouldn't charge to 100% and let it sit for a week before my trip, but I wouldn't be like, "I'm leaving at 9 AM so I'll schedule it to finish charging at 8:59" either.
Consider this Apples-to-Oranges comparision from Apple's lithium battery tech:
iPhone 5, 2012 - with a full charge I can expect 5-7 hours of usage.
iPad 2, 2011 - with a full charge I can get 11-13 hours of use.
Both of these are with Wi-Fi on and the display at a comfortable brightness. The main difference is the under-the-hood battery management. To make the iPhone more compact, Apple allows the user to access more of the battery's capacity, like charging from, say, 2% to 98% of the battery's total energy capacity. With the iPad, things are a little different: the user might be able to access the 6-7% to 93-94% range of the battery's total capacity, which is a smaller window (is this making any sense?). This isn't purely anecdotal either, the cycle life ratings for these two products are actually quite different. If my memory serves me correctly, the iPhone's battery is rated for ~500 cycles whereas the iPad is rated for 1200 or 1500 cycles before dropping below 80% of initial capacity. Hardly a coincidence, in my opinion. The only way to do this is to limit the battery capacity available to the user.
So Tesla is doing something much like the iPad which will prolong the battery's serviceable lifetime, but also allows you the advantage of accessing the additional capacity when you need it. Charging the battery to full every day (like what happens to your hapless phone) is probably what would kill it faster, but 90% is a good reasonable number (I'm certain it's more conservative than the iPad, actually).
Pictograms, anyone?
[----------------} iPhone (virtually all available)
[=-------------=} iPad (top and bottom 4 or 5% reserved and never used)
[=------------==} Tesla (bottom reserved, top limited by default but accessible for road trips)
Hope this helps understand what's going on and why Tesla doesn't recommend fully charging all the time. I also hope you won't be afraid of the odd range charge since that's what it is for, after all. Mind you, I have heard of people range charging all the time with no extra noticeable degradation. (And I suspect the recovered estimated mileage after a range charge has something to do with battery balancing, but that's a topic for another day perhaps.)