Proper Bicycle Fit

how to know that a bicycle fits properly?
I want to adjust my seat, but when I adjust it the "right" way (my leg extends fully with the pedal parallel to the ground) I'm 2-3inches off the ground when I try to stop and balance with my feet. I'm used to being able to "flat foot" while on my bicycle's seat, but then I don't have proper positioning because I get a bend in my knees when I pedal that way.
Is this the correct way to ride a bike though? Am I not soposed to be able to flat foot while on my bicycle's seat?
Your leg should only have a slight bend in it with the ball of you foot on the pedal and straight with the heel of your foot. You should not be able to touch the ground while you are in the saddle except for your tippy toe at the most. Just hop off the seat when you stop.
http://www.jimlangley.net/crank/bikefit.html
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