I have less knowledge about your process than you but from what you've said I don't think you can be that sure. Your OG was 1058 and you mashed at 65-68. Even at 68 you should expect a FG of 1014 I would have thought unless you had a serious chunk of unfermentables in your grist or your thermometer is faulty and you actually mashed at 72. What was your recipe? Your yeast has attenuated 65-66% for a strain that's supposed to do 71-75%.
I think it's more likely that your yeast have conked out before they finished the job; this can happen if fermentation temps aren't controlled properly; the heat generated from the active fermentation begins to fade so the temp drops. If this happens quickly enough the yeast can go dormant before they've completed fermenting out the longer chain sugars in the wort.
If you bottle and prime now the likelihood is that the yeast will eat the priming sugar (cause it's easy for them to process), carbonate the beer, and leave the the more complex but still fermentable sugars behind. The risk you run with this is that if there is even a trace of contamination in your post boil to packaging process, be it from wild yeast or bacteria, these organisms can grow very slowly in the package and eventually start to eat those sugars that the yeast left behind - this is what would cause a bottle bomb.
Under priming may help reduce your risk of bottle bombs but, if it were me, I'd take the extra precautions in case you do get a bottle exploding.