IMHO, when I put in gas, I'm paying BP, Chevron, etc.... not Lexus. I'm not an engineer, but if the specifications say "Premium Unleaded Fuel, 91 Octane minimum"...then I'd put that in.
Maybe someone more knowledgeable can jump in but the higher octane fuels (as I understand it) relates to a higher flashpoint for combustion. If you put 87 octane fuel for a car whose engine is made to perform with 91+ octane, then the lower flashpoint/faster rate of combustion makes the engine run less efficiently; therefore, you burn incrementally more fuel which (depending on the car) may negate some of the savings of your per-gallon fuel cost.
My last car was a "Premium Unleaded" vehicle also...when Katrina hit and it disrupted the fuel supply here in Atlanta, several gas stations either had no fuel or only the 87 octane unleaded fuel, so I had no choice but to use reg unlead (at $4.50+/ gallon!). I felt some performance reduction, but barely any change in fuel efficiency; I'm told that the computers in most modern cars can adjust the combustion process to account for the lower octane and you won't get the typical engine knock.
Regarding engine knock... the ES 350 manual (for the 2010) says that you can put in 87 if no premium is available...but that you may experience engine knock, and to put in the premium unleaded as soon as possible or something to that effect.