Figure some rules of thumb as "trade-offs." A trade-off is a situation when you can have more of one thing with less of another, or vice-versa.
If you tighten the timings on RAM at the same speed setting with the minimum voltage for stability, you will most likely need to increase the voltage to sustain the stability. If you raise the speed and keep the same timings, you will likely need to increase voltage. Other corollaries should be obvious. You might raise the speed and loosen the timings to keep the same voltage. You can lower the speed, hold the timings constant, and you may be able to reduce voltage a little.
If you leave the other timings on "Auto" you should be fine. But there are two settings -- one for which I forgot the name or acronym -- which can improve things. I would verify this for DDR3, but there is a "Bank Cycle Time" (maybe ? tRC?) which should be roughly equal to tRP+tRAS+[some margin]. With DDR2, the margin was +1 or +2, the setting was always defaulted to an excessive number, and tightening it was supposed to make a significant performance improvement.
I'm sorry, but I wish I could remember the other setting.
ADDENDUM. If you can run them as DDR3=1866 and 9,9,9,24 and voltage below the spec for DDR3=2000, I don't see why that wouldn't be a good result. But I'd run HCI MEMTEST for at least 500% coverage on any settings at command-rate = 2 first, get things working and able to pass that test, then try CMD=1.