Quite often the final gravity has been reached by day 4 or 5. That doesn't mean you should bottle then, there's some cleanup as the yeast breaks down some intermediate compounds and then the yeast starts to settle out. I sometimes will bottle beer on day 10 but sometimes will wait much longer depending on the beer as I know that darker and higher alcohol beers will take time to mature anyway and that extra time will count toward maturity as well as letting more yeast settle out leaving me with less sediment in the bottle.
Now on to your question, if the SG is in the range specified and hasn't changed in 4 days, you can safely bottle the beer. Sometimes the yeast will stall out and the SG will be higher than expected. If that happens, swirl the fermenter and that will often be enough to get the yeast restarted. Do not bottle if the SG is above the range unless you are certain it is finished.