Why is a parallel connection preferable?
1)Overall sensitivity and maximum overall volume will be approximately 6 db less for a series configuration than for a parallel configuration. 6 db corresponds to a factor of 4 difference in power delivery.
2)No two speakers will have electrical characteristics that are perfectly identical. To the extent that those characteristics differ, sonics will be adversely affected in a series configuration. For example, if the variation of impedance as a function of frequency is slightly different for the two speakers, the frequency response flatness of both speakers will be affected. Obtaining good results from a series configuration is premised on an equal division between the speakers of the voltage being put out by the amplifier, at all frequencies. An equal division will not occur to the extent that there are differences between the two speakers in how their impedance varies as a function of frequency.
3)In a series configuration, each speaker might reasonably be considered to be part of the cabling connecting the other speaker to the amplifier. From a philosophical standpoint, it would seem expectable that a speaker would not be an ideal choice for use as a speaker cable, although the reasons may not be fully explainable from a technical standpoint.
I appreciate your advice, and especially want to know if it's OK to continue using a parallel connection or if I am unduly stressing the amp.
As I indicated, the HPA 3 would seem likely to be able to handle the parallel-connected speakers better than the AMP 3. And that in turn has done well with them, without ever getting more than mildly warm as you've now indicated. So everything seems to point to there not being a problem.
Regards,
-- Al