The most important thing for me regarding saddle height, is to minimize the stress on my knees. I keep raising the saddle until I have to rock my hips to reach the pedals at the bottom of the stroke (with foot level), then back the seatpost down a bit so I don't rock my hips, that's bad.

That old advice about your leg being "slightly bent" at the bottom of stroke, I've found is not optimum. Having my legs straighter has worked better for me. But maybe that's just me. Try it, see how it feels.