Years ago Shell Oil put out a series of small informational pamphlets called the Shell Answer Man.They said for best fuel economy you should drive like there's an egg between your foot and the accelerator.
I agree-to move the Car faster needs more energy, you are never getting that energy back. With a gentle peddle pressure you are going to get a very good FE - you might be able to beat that by using paddles and shifting before the CX-5s Tranny does.
If I push the throttle gently I see these max RPMs at these gears
1st 2200
2nd 1500-2000
3rd 1500-2000
4th 1500 - 2000 closer to 1500
5th again closer to 1500
By the time I am at 30 mph - I am in 5th gear and RPMs move between 1200 to 1700 based on speed etc.
If you press harder the CX-5 will hold gears till 3000 RPMs and then move up. This almost causes more fuel to burn and yes you will reach A to B faster but for that same distance traveled the switch points I see are more efficient.