After updating to version 5.4, I also began to see similar messages in the log.
2019-04-24 18:22:50.240762 mgr.st02 client.37617344 172.31.67.202:0/4110220472 1639 : cluster [DBG] pgmap v1642: 1184 pgs: 1184 active+clean; 702GiB data, 2.06TiB used, 12.7TiB / 14.7TiB avail; 1.56KiB/s rd...
Look at this topic - https://forum.proxmox.com/threads/memory-usage-on-empty-node-with-ceph.50760/
You have 6 disks, most likely you will use 5-6 OSD on each node - approximately 20-24GB will be used only by CEPH.
I can add that I have a test cluster ProxMox 5.3 with 3 virtual machines on each...
Not knowing the parameters of your "few virtual machines and data" is difficult to give recommendations of configuration. But in my opinion, you may increase RAM to 96 or 128GB - there will be no useless.
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