I've always purchased my bikes for 1-2k under MSRP. If the bike is a hot new model, you may not get under MSRP. When the R1 came out in 05 with some changs, it seemed they were all selling right away, dealers wouldnt work with me. So I waited about 6 months and ended up getting a new R1 for about 1800 under MSRP.
My latest bike, my Ducati, was purchased at 3k off MSRP. When the model came out in 2007, that would have been unheard of. You just have to do your homework,shop around and have patience. If nobody can keep the bike in stock, dont expect a deal. If you call all the dealers in area and they all have 2-3 of same color in stock and its near end of model year, expect a deal.