it all depends on your max hr, and how long you can sustain a high hr. typically training runs should be 130-140, tempo runs 150-160, and intervals no higher than 170. all out time trials should be 170-180 to push the threshold.
the longer you can handle 170-180 the more efficient you will be at 150-160.
for instance your 5k is 17:20, which means your averaging 5:30's. so for your normal 5-6 mile run should be run at 6:30 or so, and that should be no lower than 130 hr. tempo runs should have a specific mile avg time, and for you it should be right around 5:40. mile repeats should be around 5:15-5:20, and all out for you should be 4:50-5:00