John, yes you can run most HV servos at 6V (most but not all have a voltage range from 6v to 8.4v) and they work fine at this voltage. However running a high voltage servo at 6V greatly reduces their speed and torque. For example, the servos you are are running at 8.4v have 83.28 oz / inch where at 6V have 61.77 oz / inch. That is a change of 21.51 oz / per inch. With all servos torque and speed change with voltage. I'm sure that you were already aware that speed and torque changes with voltage but, there are a number of newcomers to RC reading this post. My intention was not to criticize anyone's choices but, rather to encourage them to investigate their options.
Rich