The simple lesson to be learned from this is to bias your exposures so that the histogram is snugged up to the right, but not to the point that the highlights are blown. This can usually be seen by the flashing alert on most camera review screens. Just back off so that the flashing stops.
Now of course when you look at the RAW file in your favourite RAW processing software, like Camera RAW,
the image will likely appear to be too light. That's OK. Just use the available sliders to change the brightness level and contrast so that the data is spread out appropriately and the image looks "right". This will accomplish a number of things. The first is that it will maximize the signal to noise ratio. The second is that it will minimize the posterization and noise that potentially occurs in the darker regions of the image.