Just ask any professional Mastering engineer, and he'll tell you that, as well, but you may have read or heard this from a source that may not have stated the destination medium, such as vinyl or CD.
For vinyl, you need to leave about 3db minimum of headroom.
For CD, in my experience, you mainly just don't want any overs (no RED LEDs), but to mix at a good loud level, meanwhile retaining all of your dynamics. In other words, use no limiters or compressors on your Main buss.
I've discussed this at great length with some major label mix engineers, and the common thread is that you should get your mix to "sound" like you want, and set the Master volume such that your maximum peak is less than 0db. From there, the Mastering Engineer will do the rest.
My own recommendation in another thread is to talk to the Mastering Engineer you'll work with. Ask them. They will tell you exactly what they want most and what they want least.