Under-pitching a little isn't going to make too much of a difference. Don't worry about it.
That being said, it probably wasn't necessary to make a starter with the S-05. Jamil's calc: http://www.mrmalty.com/calc/calc.html
lists a 263 billion yeast cell count as optimal for a 1.073 beer which equates to (1.3) 11.5 gram packets. I am sure whatever size starter you made put you well into that category. Had you just pitched the packet, you would have been a little light which might have resulted in a few more esters but for your second brew there's probably a number of other more important things you should be worries about.
As to why you have a high OG, I'd guess temperature correction and hygrometer calibration could be one reason. Double check your hygrometer in water and use a correction table: http://www.ebrew.com/primarynews/ct_hydrometer_temp_correction.htm
My last hygrometer read high by .002 points for some reason, probably just because it was a cheap one not checked closely at the factory.
Also double check your final volume. You may have boiled off more than you were expecting leaving you with less liquid and a higher final resultant gravity. This is easily remedied by adding sterile makeup water.