Resolution suggestions for printing?

I shoot most of my photos in RAW and even after cropping/finishing in Lightroom, I save at the highest possible quality.

Many of my favourite pics are saved directly to Flickr in high res as well (6000x4000 max I believe, or 200MB).

Aside from cropping to the print size (5x7 or 8x10) would there be any need to adjust resolution? Is highest always best for prints?