...on real roads rolling resistance does not decrease with higher pressures. On the contrary, because a wheel with wide tyres and low pressures rolls more smoothly over an uneven surface...
+1
Inflating tyres harder will transmit more vibration to the rider's body/luggage, which jiggle more (so-called "suspension losses") and dissipate more power i.e. slower.
Running tyres that are too soft increases friction/deformation losses within the tyre, which also wastes power and is well-known as classic "rolling resistance".
It turns out (or, rather, tyres are designed that way) that power losses from both these effects are of similar magnitude for real-life roads and practical tyre pressures, and so there is a pressure sweet spot where the combined power losses from both phenomena are minimised. Empirical testing by some sources suggest that the sweet spot pressure is where the tyre drop of the loaded wheel is 15%:
http://www.dorkypantsr.us/bike-tire-pressure-calculator.html
http://www.bikequarterly.com/images/TireDrop.pdf
Note that the optimal pressure varies a lot with wheel load, which may be very different between different riders and front/rear, so one would have to find out the weight on each wheel using scales while sitting on the bike.
For smoother roads, a higher pressure will be faster, and vice-versa for rougher roads. However, as road roughness is hard to quantify, it is better (from a speed point of view) to err too low than too high, because suspension losses increase much more sharply (per PSI of over-inflation) than rolling resistance losses do (per PSI of under-inflation).
...Ultra stiff tyres like Marathon Plusses are a partial exception to this, because they will not flex much even with lower pressures. They are always slow (and uncomfortable).
Willem
While I do not discount your theory about stiff tyres being less comfortable, I am not convinced that even a super-stiff tyre is stiff enough to transmit much more vibration than a more flexible tyre. One possible confounding factor is that MP's and similar utility tyres tend only to be available in the larger sizes - it is often not possible to inflate them to low-enough pressure to give a 15% tyre drop, so they tend to be over-inflated and therefore uncomfortable.
For example, I would have to inflate my front 1.75" MP tyre to only 30 psi to carry the 30kg load on my front wheel - this would conflict with Schwalbe's instructions, which mandate they be pumped to at least 45psi to keep them secure on the rim. The result is, I pump them to 45psi and accept the extra discomfort.