I don't believe you can overcharge the battery. If the iPhone remains plugged in after the battery is fully charged, charging stops.
With a Lithium-ion battery, you can charge the iPhone's battery at any battery level. There is no memory effect with a lithium-ion battery.
Copied from the link you provided:
For proper maintenance of a lithium-based battery, it’s important to keep the electrons in it moving occasionally. Be sure to go through at least one charge cycle per month (charging the battery to 100% and then completely running it down).
By definition, a full charge cycle can mean going from 100% to 50% followed by charging to 100% one day - which equals 50% of a full charge cycle, followed by doing the same the next day equals a full charge cycle.
Going from 100% and then completely running the battery down until your iPhone shuts off automatically does more for calibrating the battery indicator than anything else, but since Apple recommends going from 100% and then completely running it down once a month, this is probably a good idea.
In between, you can charge your iPhone's battery to 100% when at any level.