Short answer:
I've had two sets of 205/50R16 tires on OEM rims and stock springs, and I had not fitment/rubbing problems whatsoever. I also had a set of 205/40R16 tires for a summer, and they fit OK, but I would not recommend them for a daily driver.
YMMV if you have non-OEM springs (or other suspension mods.)
(Edit: which I just read the OP does not have.)
Longer answer:
I've had three different sets of tires (other than the OEM tires) with no rubbing/fitment issues:
Sumitomo HTR A/S P01, size 205/50R16 - my current set. A bit quieter than the previous set of Pirellis, and a bit better in the rain. Much better than the Pirellis in the snow (but not as good as a proper snow tire, of course.) Dry grip is OK (I would not go autocrossing on them.) They were fairly inexpensive. A "good compromise" daily-driver tire.
Pirelli P-Zero Nero size 205/50R16 - Good tires in dry and rain, but not so good in snow. No fitment/rub issues. My speedometer was dead-on perfect (within 1mph at freeway speed, compared to indicated GPS speed.)
Falken Azenis RT-615, size 205/40R16 - (Had them for a summer - they were used, and got them for a good deal.) Fun, fun, fun tires. Very grippy in dry and wet, but watch out for them deep puddles! The wheel wells looked ridiculously empty (on stock springs.) - which I kinda liked. Due to higher gearing provided by the tires' smaller total diameter, the car accelerated a bit more quickly, but revved higher at freeway speed (and messed up my speedometer readings, too.) My fuel mileage decreased a bit, too. I would not recommend this tire size unless your car is lowered, you tend to autocross the car on occasion, or just like to have a funky looking car during summer.
(or you get a set for very cheap!)
I hope this helps. Good luck,
enrique