Getting a good price depends a lot on the dealer and how much competition they think they have in your buying area. When I worked at HD, we pretty much set our price because the same guy owned every dealership for 100 miles. In the same area we have 4 major Honda dealers, so you can price shop pretty effectively.
My suggestion is to offer to pay the MSRP as an Out the Door price. That's the only price that matters... In other words, you're not going to pay the dealer setup, prep, etc. The sales guy will have a fit about how they have to pay shipping, taxes, etc. Your "compromise" price could be to pay sales tax, but still leave the other fees off.
It's a shame we have to play these games to buy a bike, in the old days the price was the price, there weren't commissioned salespeople, and the buying experience was a lot more fun. Now it's like buying a Toyota; everybody feels dirty and used when the deal is finally over.