No. The batteries are still not discharged at 3.45 volts you must let them discharge till the radio shuts off you will not damage the batteries as the radio knows that 6 volts is the bottom where it shuts off. You should have followed the instructions from the beginning. The charging circuit needs to learn the battery capabilities. You charge the battery till the lightning bolt in the display goes away which means the battery is fully charged and should read 8.1 or 8.2 volts. Then turn the radio on and run it all the way to shut off. You should do this four times and don't stop in the middle of it and do something else with the radio. The initial battery preparation for this radio is kind of convoluted but they do have instructions.
Dave