i never learned how to run a tempo right until after college, because you really need to learn to run it alone. When you run with someone else you tend to run someone else's pace not yours. I am using the term tempo and steady state as one in the same.
For me, the tempo pace is not a pace anyone else can prescribe. I have to find it for myself. How do you do this? You start out at a moderate pace, with a brief or even no warm-up. The first first 1-2 miles is the warm-up. I never worry about the pace of the first mile - it is just whatever pace it turns out to be. After the first mile i gradually start to pick up the pace...i am looking for the most efficient pace (effort to speed ratio). I want to go fast but still be breathing controlled. I want to feel like i could keep this pace up for 10 miles, and sometime I do.
the trick is learning how to push and pull. Pushing is when the pace feel like you want to go faster, so you do. and pulling is when you realize you need to pull back and slow it down, and you do. the process of riding the line is a steady state. I might go through 5-10 cycles of pushing and pulling in a normal steady state.
Regarding times and expectations: DONT try to run the same pace each time. i went back and looked at my training log from my best year ever (which incidentally consisted on almost 80% steady state runs and i improved 1:45 for my 8K race distance over a 9 month period) and noticed some days i was quite fast and others were quite pedestrian. and i was ok with that because i was listening to my body and only running what it gave me on each day. For example, one day i might run 10 miles at fast as 5:20 pace....two days later i am running 8 at 5:40. a week later it might be 6 miles at 5:10, only to be followed by 10 miles at 5:45. or a longer day of 13 at 6:00. It is not about the time, it is about the effort!
Don't be a slave to the numbers. Listen to your body and run the pace that your breathing gives you. the more you train at or around this threshold the more you will improve.