Typically I've notice new commercial cases tend to be about 0.002" shorter than SAAMI headspace minimum. I suspect that's where the 0.002" number came from. Glen Zediker says it's enough to make semi-auto feeding reliable, so I've always used it that way.
The standard practice of setting a shoulder back 0.002" from as-fired value is premised on the as-fired value reflecting your actual headspace. Usually, though, and unless you are shooting a pretty hot load, the brass has already sprung back about 0.001". That's why neck-sized-only brass works, and often pretty well. But eventually it stretches to fill the case. So if you don't have a way to measure your headspace, try neck-sizing-only, measuring after each firing and always chambering it with the headstamp orientation the same until it just starts to get snug. Check your records and see what the last unsnug measurement was. Go for sizing 0.002" below that number if you want to feed from a magazine, and 0.001" below that number for single-loading for benchrest.
A lot of BR shooters have switched to that -0.001" number it seems. Just relying on neck sizing doesn't set new records the way it once did. It seems the slight unevenness in brass wall thickness expands it to fit slightly off-center, and in some guns that shows up when you are shooting below 1/2 moa.
YMMV, so experiment to see what your gun actually likes.