Transistors have a spec called the Safe Operating Area (SOA).
It is calculated by the amount of voltage and current you ask the transistor to switch.
Since a lower impedence speaker will draw more current the amp designers added a switch to lower the voltage fed to the transitors to protect them from damage.
A true high current design would use more transistors with larger heatsinks to accomadate low impedence loads that Pioneer in this case chose not to address because it would greatly increase the price.
Since I would expect your 6 ohm speakers to dip often down to 4 ohms you would be best to follow Pioneers suggestion.
It is calculated by the amount of voltage and current you ask the transistor to switch.
Since a lower impedence speaker will draw more current the amp designers added a switch to lower the voltage fed to the transitors to protect them from damage.
A true high current design would use more transistors with larger heatsinks to accomadate low impedence loads that Pioneer in this case chose not to address because it would greatly increase the price.
Since I would expect your 6 ohm speakers to dip often down to 4 ohms you would be best to follow Pioneers suggestion.