From Derrick Riches,
Your Guide to Barbecues & Grilling.
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Testing for doneness is as much an art as a science, but if you are using a thermometer you should be able to hit it very close. Remember that you need to remove the steak 5 degrees F. (2.7 degrees C.) below your target temperature. The steak will continue cooking for a few minutes after it is removed from the heat.

Say you want a medium rare steaks (about 130 degree F or 55 degrees C.) then you need to get that steak out of the grill and off the skillet when the center of the meat reaches 125 degrees F. (52 degrees C.)