The pegs on all sport bikes will be spring loaded meaning that by the time the feeler hits the asphalt, you're at the 'soft' maximum lean angle. The peg should then fold up out of the way (unless you have massive feet like Fla!) and allow the tires to keep planted.
It's the 'hard' maximum lean angle you want to keep away from. This will be where engine cases start hitting the ground causing the rear tire to lift.
Your feelers (or your knee if you're on the track) give you an early warning that you are nearing the point of 'hard' maximum lean angle, which is why I am reluctant to remove feelers for street riding.
Having said all that, Hondas, I find, tend to give the rider an earlier warning than absolutely necessary and their feelers could stand to be a bit shorter. Also, the XB 'S' pegs hit the ground too early IMHO.