Actually It depends on your car
If the company that produced your car were aiming it as a performance orianted car they absolutely make sure that going all the way to redline before shifting will produce the fastest acceleration.
On the other hand (more than likely) - your car's gearing wasnt spent a massive amount of time on - and it prolly will require different shift points depending on what gear you are in
ie
1st to 2nd
6500
2nd to 3rd
5900
3rd to 4th
6750
....
and so on
You will really just have to go find what feels right
Sorry those engineers dont spend more time making things simpler