My first response was a little short so here are my thoughts...
I see little benefit taking the advice of this DAN video. You've successfully completed a dive. Even at an ascent rate of say 60 feet per minute, you are on the deck or surface and you feel fine. Now you're going to go back down just to hang at 15-20 feet for three minutes? To me that presents more of a potential recipe for an issue than the extremely unlikely event you would experience DCS. You're already likely low on gas. You now (should) have to coordinate this with your buddy. I'm sure your buddy's looking at you like, "yeah whatever dude, I'm going to have a sandwich."
I realize this is the Basic forum and I'm not advocating unsafe diving practices, but if you get outside of the training dives and the tourism dives where everything is so scripted, CYOA, kind of like the video, you learn some of the things being parroted are overly conservative.
The safety stop is optional, but highly recommended. Personally, I've yet to see a diver complete a full safety stop. Can you believe it? I was shocked after getting certified. The safety pause is what I see in the real world. Again, NOT recommending that, just giving some perspective that there's a lot of divers doing some hardcore diving and the safety stop isn't part of their plan.
That said. I think you should still do it, but if for whatever reason you miss the optional safety stop, there's not much to gain by going back down.