First, are you sure that the bike does not have a high flow air cleaner on it? That would be a common thing to have done back in '02, along with the mufflers. If that was done without reprograming the ECM, you're definitely running lean.
Second, do what you want, but in my opinion, you should never "cruise" at any RPM below 2K, unless you're in first gear. The engine will lug, which is about the worst thing you can do to any motor, and particularly a HD engine.
Back in '02 (and prior), up through '06, you could get a download to the ECM from HD dealers for changes like high flow air cleaner and high flow mufflers. I'm not sure if those are still available these days, but it might be worth checking into. It used to cost about $100, and was generally "close enough" on the tuning.
If you can't get the above, one of the simplest things to do is get a Power Commander III from somewhere like Fuelmoto (talk to Jamie, if he's still there), tell him what you have, and they can ship it to you with a tune already loaded for your combination, in all probability. It's a real simple install, and an effective solution.
Other options are available, but would require Dyno time...in that case, find a competent tuner in your area, ask him/her what product they prefer using to tune the bike, and go with that. IMO, don't waste your money on things like the Vance and Hines Fuelpak...they only allow changes to the amount of fuel delivered, and don't work as well as other products, like TTS Mastertune, SERT, etc.
As an afterthought, it probably wouldn't hurt to run some good fuel injector cleaner through the motor with the next fill up.