Actually, the manufacture door jamb PSI (COLD) is a compromise between: MPG, tire life, and passenger comfort. IMO, I think the auto manufactures value comfort and MPG in their PSI recommendation; slightly underinflated for ride comfort.
The lower the PSI: the greater the rolling resistance, the worse the MPG, softer rider, outer edges wear faster
Manufacture PSI reccomendation: sweet spot of MPG, MOST comfortable ride, OK tire life
The higher the PSI: less rolling resistance, better MPG, firmer/harder ride, center of tire may wear faster
NEVER exceed the cold PSI rating of each tire. If you had cheap tires w/ a max PSI of 28, you would be 2PSI over following the manufactures tire inflation recommendation.
30 PSI (manufacture recommendation) vs 31 PSI; IMO, the difference will be negligible. After many tanks of gas, the difference might be noticable.
I vote go to 33PSI for a week or longer. You might notice the ride is a little firmer or not. MPG might be slightly higher. Tire wear might not be any different.
If you were to have the car fully loaded (people and/or stuff in trunk and rear seat), increasing the PSI would be good, esp if on a long trip. You would just need to adjust the PSI back down when COLD, and not longer carrying all the extra weight.
Don't forget to check your spare tire at least 4x's a year. Remember, temperature and PSI are proportional. A tire properly inflated for summer temps, will be under inflated in winter temps, in addition to loosing a few PSI per month.