You do not charge at some mah, you charge at some ma. mah means milliampers times the time it flows at the stated milliamperes. You charge at some current rate which can be expressed in amperes , milliamperes being 1/1000 of an ampere.
And yes, your 5 cell battery can typically approach 7.1 to 7.2 volts at full charge. If you are charging at about a 0.1C rate, you will not damage the battery should you leave it on charge to long. You will need to put in about 120% of the rated capacity to fully charge a discharged battery as the charging process is not 100% efficient.