How long is a piece of string? You can't under power speakers, that's a total misnomer. You can clip your amp though and the more you clip an amp, the more your speaker output goes from looking like a nice sine wave to looking more like a square wave, and the distortion will eventually destroy your speakers one way or another, through irregular voltage spikes that will burn out your speaker coils. Or alternatively by sending one of your woofers/tweeters out of travel, on a journey to a far away land, never to come back.
To work out what you need, you have to look at the efficiency/decibel. Say one set of speakers from the 1980s might be 85decible/meter (yard) and another might be 96db/decibel meter (yard) That means at 1watt at 1 meter, the first set of speakers will be outputing 85db. The other will be putting out 96db at 1meter. It's not about how many watts you have its how many decibels a speaker can put out per meter/yard. Now lets return to your argument your proposing here:
You state you have an AU-555 powering a set of KEF C-30. I will answer this question about your stereo. The KEF C-30 is a fairly efficient speaker which means it puts out 90db at 1 meter. Too effectively double your output you need a db increase of 10db. So lets say you crank your stereo up just 1watt more watt, anyway, you'll be able to put out 180db which is 4.5times louder again. Now that is also beyond the limits of total deafness in about 2minutes flat. The AU-555 has 20watt so it has more than enough power with some headroom for those speakers. Provided you don't go past half way on he volume knob you wont have any problems with those speakers ever... Considering you have a speaker with an efficiency of 90db you shouldn't need to go past 2watts pretty much ever.
The AU-555 will power those speakers just fine. Just don't crank them all the way up. It's not really the rocket science people make it out to be. People conflate watts with decibels when the two terms aren't even analogous to each other. NB:
Most night clubs have a limit of about 120db that they follow by guidelines. I'll just leave that as food for though.
The only thing you want to look at other than the frequency response curve and the frequency response rate when you're looking at speakers is the efficiency which is measured at decibels/meter (yard) these are the three factors that matter about a speaker and nothing else until you know a whole lot more about speakers.
Teach a man to fish as they say.... And they should not need to come back again.