Red is absolutely right that it is better to err on the loose side on a street bike. If the chain is too tight it will damage sprockets, chain and transmission bearings in short order.
I also agree that the method described in the manual with the bike on the side stand is about right.
The problem is that most of us are not very accurate in our "measurement" of slack and, as a result we could inadvertently set the chain too tight using the prescribed method. Or we could set it looser than necessary.
When I adjust it as described in my earlier post and then check it on the side stand, it measures as specified in the manual.
However, when I set the slack to the best of my ability using the method in the manual first and then check chain tension with the swingarm in line with the sprocket and swingarm pivot, it can be a little too tight or a too loose.
The main thing is to avoid having the chain get too tight when hitting a bump which could momentarily compress the suspension and overtighten the chain.
If you don't want to take an extra few minutes to set it as I have described above, at least take Red's advice and use the method in the manual - but be extra careful to err on the loose side.
Good luck,