If you run the numbers through that link I posted earlier, you'll get the exact RPM's and MPH for whatever gear.
3000 RPM's isn't high, especially for a 2.5L. It's actually in the sweet spot which should go up to 3700 RPM's. With some mods, you can bump that to 5000 RPM's. Although, no one drives with the needle at 5000. With my Jeep, I'm usually reving it past 4000 when getting onto the freeways. Then I like to have it around 27-3200 RPM unless I really want to cruise and then it's 5th and I'm not passing anyone unless I'm doing over 70MPH to where the RPM's start to climb abck into the power band.