i just did my oil last night. while i had mine on a stand, i think i would have benefited from taking it off the stand, and leaning it to the kickstand side a bit to get the little bit left in the pan. thats what side the drain plug is on. yes you can change it on a kickstand. its just easier to put it on a rear stand for maneuverability. as far as oil, ive used mobile 1 4T racing oil in almost every motorcycle ive owned, 3 to be exact. my book says 20-40 or 20-50. im not sure about the yamalube discontinuation but the 09 is the same as my 10 and they use 10-40 so it shouldnt be that big of a deal, atleast to me anyways. one thing i did do was change it with yamalube 10-40 for the 600 mile change for break in, and ill change it again at 1000 -1500 miles again with another round of yamalube 10-40. then at around 3k miles ill be switching over to the mobile 1 4T racing synthetic for the remainder of the engines life. just personal preference due to mass reading and research.
as far as draining a little to lower the level, it can be done but gets VERY messy Very fast trying to put the plug back in while oil is draining out. thats y i said just drain it into a clean container and refill to proper level. give it a shot and if it doesnt work, u can just drain the whole pan. good luck bro.