High Idling

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My 2003 seems to be idling unusually high, especially after a long ride at higher speeds. For example, I just came back from a 1.5 hour ride and averaged 55-70 mph. It started off ok, but I noticed that as I came back into town, that while I was stopped at a light that the bike was idling at a very high RPM; this is a problem that I have noticed since I got it a few months ago. Is this a normal issue, and if not, what could be the problem?

I always use full choke to start the bike, and then shut it off after the bike has run for about 30 sec. I do not touch it after that.

Thanks!