Nope, won't hurt it. In fact, it is necessary to run that high to make decent torque. I was used to driving V8's when I picked up my first Protege and was bitching about it running 3500 RPMs at 70 and 3800 at 80 mph. I took it to the Mazda dealership and the master tech took me out for a test drive and showed me how to keep the RPMs high to make any power. He convinced me that I wasn't going to break it even though the engine sounded very loud. After driving for a while I figured out that I actually got better gas mileage at 3800 RPMs than 3000. That engine survived 12 years and 132,000 miles of high RPM revving including running for hours at 5500 RPMs with cruise control on. And the engine NEVER burned oil.
I was amazed that the MSP actually makes power lower down and can cruise the highways at "only" 3000 or so.
Keep the RPMs up and I bet you'll find out that the car is much more responsive to what you want it to do, even on the highway.
A better question for people on here is what is the RPM range for best torque?