Actually, Class 4 cards are rated for writing at 4mb/s. Class 6 are 6mb/s. Unfortunately there's nothing higher than Class 6, so a card that can save at 20mb/s is a class 6 just like one that saves at 6mb/s.
I can only assume that you say mention somewhere of Class 4 cards
reading at 20m/s, not writing. Most cards read much faster than they write. However, your camera may or may not be capable of writing at 17mb/s, but I doubt that it
needs to write that fast for HD video recording. If the manual says that Class 4 cards are acceptable, that would mean that that should be fast enough to record video at an acceptable speed.
If you do want max write speeds for your camera, keep an eye out for a sale on the Sandisk Extreme 3s which are rated for 20mb/s write speeds, they have a mail-in rebate offer until 6/27 - and you get more back if you buy 2 or 3. Buying 3 8gb SD ones from Beach Camera right now would cost a total of $75 after rebate - but they put them on sale for much cheaper. A couple weeks ago, I think they were on sale so the total cost was more like $15 or $30. I didn't bother buying more as I got 3 from them back on Black Friday last year - total cost, $5 - for all three!