The sticker in the door only relates to the original tire size and type. Most of us have something else on there. You can get right in the ball park by weighing each end of the vehicle and interpolating between the two end points - sidewall pressure is at maximum weight rating. 0 lbs = 0psi.
Some people choose a little more pressure to bump their MPG. As they say, YMMV, but it's interesting to think about. Over 50,000 miles of tread life at today's gas prices, going from 20 to 21MPG is about the price of 2 tires.