I bought a 2009 leftover bike in 2011. I paid $1,700 less than MSRP (or 18.5% off from MSRP), which was about $200 to $400 below invoice price. I also got the dealer to include about $100 worth of accessories. My dealer had purchased the bike still in the crate from another dealer that was going out of business, so I doubt my dealer lost money on my sale due to how they acquired it. My dealer had the bike for a year before I bought it. Amazingly enough, no customers had even taken my bike for a test ride during that time.
Some motorcycle dealers are willing to go down in price while others are stubborn. I already knew that my dealer was advertising the bike for an incredible price, and it was the cheapest price for a new leftover that I found within a 750 mile radius, so it came as no shock to me that they wouldn't lower the price. I was still able to still negotiate for the accessories. If you're serious about buying the bike, make an offer and see if they bite. Leave your info and walk away if they don't accept your offer. It isn't worth it to pay close to MSRP on a bike that has depreciated from sitting on a showroom for two years.
Unless you are looking for a brand new model or need the very latest edition, leftover bikes are awesome. Just be sure to take it for a test ride to make sure the battery is good and the gas didn't go bad.
ETA: Any bike immediately drops in blue book as soon as you sign the papers, even current models, so you can't go completely by blue book values.