I agree with some of you guys telling 'if it sounds right, it is right'. That's true that's the only thing that matters. What I have noticed always is that when I play and record it sounds so perfect but when I play back the recorded midi take I notice a bit of unnatural sync. Very minute though. I move the recorded notes a bit towards the grid and it sounds better.
here is what I did.
I recorded a take with synth audio track armed.
This is what I got

Zoomed in

The audio was 10ms delayed than the midi note.
Then I noticed that My ASIO reported total roundtrip latency is 10.9ms as well

I changed my ASIO buffer size to max.

Now the reported total roundtrip latency is 100.9ms
Now I recorded a take again with synth audio track armed.
Got this

Zoomed In

The audio here was 100ms delayed than the midi note
So although the midi note got recorded few ms ahead of the beat the audio is where it should be.
So I can leave the notes there itself right?
NO NO NO!!!! BIG NO!
Now I deleted the recorded synth's audio. And recorded it again(only the audio from the pre recorded midi). This will help me know whether the audio will still be delayed than the midi note while playing back the recorded midi.
This is what I got
For 10ms

For 100ms

As you guys can see. The audio gets played just where the midi notes are without any delay.
What can we conclude from this-
1.While
recording if there is latency in roundtrip. There is a latency between audio and midi. We humans will play the notes slightly ahead so that our ears will perceive the audio in sync with the timing of the metronome/other instruments. Yes the audio we hear while we play is correctly in sync, but inorder to sync the audio we compromise by playing the notes slightly ahead
OR
The DAW records them slightly ahead so that we hear the audio in sync. (I am not sure which case is true but either way we know that the midi is recorded slightly ahead depending on the latency)
2.However while we
playback there is no latency between audio and midi and we end up hearing the audio aswell slightly ahead of the beat(if the midi notes are ahead of the beats)
How can we fix this
1.Move all the midi notes exactly __ms forward(depending on your reported latency)
2.You can also record the audio along with the midi while recording and then keep the audio and delete the midi.(This is not a good idea though as you cant edit the midi notes.

what's the advantage of using midi then)
3.Record the audio along with the midi and then move and align the midi notes straight to the audio transients and go on and delete the audio.
Point 1. will work for me.
But is there someother way to do this much more easily?
brundlefly mentions of having timing offset in preferences. Can that help. May be!
Or may be Bakers can provide us with an potion to override this automatically in sonar. May be we need a
Midi Delay Compensation 
Guess we will be the first to introduce that.
I am no expert. Just a lay user wondering of stuffs. If I have noted something technically wrong here please correct me.
Thanks.