I fix tires all day at work. I usually put in maximum recommended pressure on the sidewall. The reason is that i know i am probably not going to see that vehicle again for months and moreover, chances are that absolutely NO-ONe is going to bother to check the tire pressure until the next scheduled maintenance (5 months). And it is fact that even a tire in perfect condition loses about 1 lb a month.
If you really, really hate to check your tire pressure, this is one approach you can use. If you check it more often, anything in the range 32-36 ought to be fine, exactly as all the other people are saying. The only reason to change tire pressure is if you see tire wear showing under or overinflation. (Underinflation = sides more worn, over-inflation= center more worn)