Is it okay to take the LiPo off the charger @ 95%?

[gtxracer]

Is it okay to cut the charge short on a LiPo? Say I'm at the races, the next heat is in 2 min and I need the battery. It's charged to 95% or somewhere UNDER 100. Is it okay to disconnect and run? Is it going to harm the battery?

Also, my Hyperion only has 100mah increments. My battery, however, is 4350mah. Is it okay to not charge that extra 50mah or is it crucial?