Here's my two cents. How much power you want for each speaker depends on a few factors, including the speakers, the size of your room, and how loud you like to listen. We'll be giving you our thoughts based on our experiences and preferences, which may very well be different than yours.
That said...if I were to pick one of Emotiva's amps (which, btw, I'll never do again), I'd go with the XPA-3. I agree that your receiver should have more than enough power to drive the surrounds. Where you might notice a difference at higher volumes would be in the front speakers (left/right/center), IMO. The XPA-3 hits the same price point as the UPA-7, but gives you more power where I think that you'll notice it.
You mentioned that you were worried about having too much power because you listen at -10 on your volume level. While the amps might handle transient peaks better and therefore supply more power to the speakers in those situations, they will not in general make the speakers louder. That -10 is probably a decibel offset from a reference level set on that receiver. You will want to recalibrate your system once you add the amp, but you should find that the system sounds as loud at -10 as it did before. It may very well sound more dynamic and "clean", though. If it doesn't, you should send the amp back and be happy knowing that your receiver is powering your system just fine.
BTW, if you are planning to buy from Emotiva, then I highly suggest that you wait about a month. My guess is that they will have a Thanksgiving sale, perhaps with reduced pricing and free shipping.