Here is the proper way to do it.
I will not cover if oil should be warm or not as that kinda is a gray area. I have not seen anything say warm oil draining is better, just faster.
Anyways, Put the bike on the center stand of you still have it. Drain the side tank first. I found that using a corner piece of house siding works awesome to drain this. It is like a trough and can be hooked to stay in place while draining.
Once that is done, pull the filter off and drain that out.
NOW, hit the starter a few quick times. Be ready to catch the oil that shoots out! You can get up to almost a half quart out here.
Once that is done, drain the pan, use this time to check your oil for anything weird such as rubber bits or metal.
Put the filter back on and button things back up.
From there, fill your tank up all most all the way and you can kick a few times or use the starter sparingly.
Do this a few times and then start the bike. if done right, the oil light should only stay on a 1 - 3 seconds or not much longer than when you would start your bike normally.
run for a few minutes and watch the oil level. it will drop slowly. once about half way down, add some oil to the tank.
All said, you should be able to get 3.5 quarts in out of 3.7. I get this virtually every time.
That .2 is about 3 ounces which part is sitting in the valve area pooled.
The ride IS the adventure. The destination is just to get gas!