Not really. Tires at very low pressure can be squirmier on pavement, but that's only noticeable if you're really cornering hard. Excessive squishiness can also reduce your rolling efficiency somewhat on smooth surfaces.

For the most part, it's cumbersome to change PSI during a ride, and usually not worth it. Most of the time on a mixed-surface ride I'll configure my tires to something that makes sense for the rougher stuff, and then just not worry about it.

For a paved-only ride, given the stock tire sizes on your bike, I might start at around 40r/30f and work from there.

Mostly you just need to learn to feel your connection to the surface beneath the bike. Charts are a good starting point, but tires and riders vary, and they're no substitute for experience.