Even down into the single digits at idle is no problem.
I like to see at least 20 psi at a hot idle. Right now with my current setup once it is warm I have 30 at hot idle and 65 at cruise, hot.
I would not feel any concern about 6 psi at hot idle - it was the aforementioned 10psi/1000rpms (e.g. 30 @ 3000).