I'm seeing a few misconceptions running around here..
First, don't assume that because it is higher octane, it cleans better. THAT property is designed by the manufacturer of the fuel, not the octane rating. Octane rating is simply a measure of the fuel's resistance to pre-ignition (by contrast, Cetane rating is a measure of the fuel's ability to self-ignite, and is for CI engines). It has nothing to do with power, or efficiency.
Here's what happens when you use a lower grade of fuel than is recommended: Pre-ignition will occur, either by the fuel/air mixture igniting before the spark plug fires, causing extreme damage to the piston and connecting rod, or the endgasses self-ignite as they're pushed up against the cylinder wall by the flame front before it can ignite them. This is apparent by a knocking noise from the engine.
What happens next is the piezoelectric knock senors feels the pressure waves caused by the knock, creating a voltage signal that the PCM uses to determine the existence of knock. It then retards the ignition timing, lowering performance and lower specific fuel consumption. All bad things, but they help keep your engine alive while you continue to use the poor grade of gasoline.
Putting in a better grade will help to eliminate this. It will not clean your engine unless the brand you buy specifically puts more/better cleaning agents in plus, or premium.
Here is my recommendation. Continue using your normal grade of fuel. Continue driving normally, When you're sitting there, idling, at lights or drive thrus, listen to your engine. SI engines have less of a tendency to knock at higher engine speeds (such as those on the highway), so knock will be more apparent at low idle conditions. Do you hear any knocking, pinging? If so, step up a grade. My Special will occasionally do that with 89, recommended by the manual. I have since switched to 93 and all is well.
Additionally, if you want to have some good cleaning going on, stop buying gas-flavored water and start buying Top Tier fuel. Every company that sells Top Tier fuel sells good cleaning gas at every pump, and they get this rating from GM, Honda, BMW, VW, and Audi. A few examples are Shell, Chevron, Sunoco, Conoco.Phillips, QuikTrip, etc. Search Top Tier at your favorite search engine and you will find the complete list.
Last, something my I.C. Engines professor told me about a couple of weeks ago, is "incipient Knock". Better understood as "borderline knock," this is a condition where the endgasses are expended before the piston moves far away from top center. The benefit is better specific fuel consumption. I'm not sure exactly why this is true, but I know better than question a man who has studied I.C. Engines for the last 30 years, and has sold technology to companies like Ford.
Why do I mention this? Even if you have a bit of pinging and knocking from 87 at idle conditions, I would recommend using it for trips that are entirely highway. The reason is, as stated earlier, is SI engines have less of a tendency to knock at higher engine speeds, such as highway. Basically, that idle-speed knock will not trouble you on the highway, and you can get all the benefits of borderline knock and pay less at the pump. Otherwise, continue to use the next grade up for your regular commute (again, unless it is entirely highway). Use Shell, and you'll have the same cleaning properties as the next grade of the same brand. Same for Chevron, Conoco, etc.