PLT OF A PIPER PA34-200 FAILED TO CONTACT GND CTL AFTER TURNING OFF RWY AND TAXIED TO PARKING WITHOUT CLRNC.

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SLOWING DOWN; DSNDING; AND TRYING TO KEEP PA34-220T TURBOCHARGERS FROM COOLING TOO QUICKLY; WHILE LOOKING FOR CONFLICTING TFC. AT 2 MI FROM RWY 17 THRESHOLD; TWR CLRED WAITING ACFT AT TXWY B TO 'DEPART OR WAIT; YOUR CHOICE.' WE WERE STILL TRAVELING 130 KTS AND THOUGHT THAT WOULD BE CLOSE. THE ACFT OPERATOR SAID HE THOUGHT HE WOULD GO. TWR SAID; 'ON SECOND THOUGHT; YOU HAD BETTER WAIT.' WE HAD ALREADY BEEN CLRED TO LAND RWY 17. CAME IN HOT; LANDED FAST AND USED HVY BRAKING TO MAKE TXWY D DUE TO FOLLOWING TFC AND WAITING ACFT. TURNED ONTO TXWY D. TWR CLRED WAITING ACFT FOR IMMEDIATE DEP. AND I TAXIED TO THE RAMP ALONG TXWY D AND TXWY C. TWR CALLED ON TWR FREQ AND ASKED THAT I CALL GND ON 121.90. I CALLED GND AND WAS INSTRUCTED TO CALL TWR ON TELEPHONE ONCE INSIDE AT FBO. CTLR SCOLDED ME FOR NOT CONTACTING GND CTL PRIOR TO MOVEMENT ON TXWY. I ADMITTED THAT I HAD NOT DONE SO AND ACCEPTED RESPONSIBILITY FOR MY ERROR. I HAD ALLOWED MYSELF TO BECOME DISTR BY CHAIN OF EVENTS. DON'T REALLY KNOW IF TWR EVER INSTRUCTED ME TO SWITCH TO GND OR NOT. HAVE FLOWN INTO PNS OFTEN LATELY AND USUALLY HEAR 'TAXI TO RAMP THIS FREQ' FROM TWR. SO; I SUPPOSE I SIMPLY ASSUMED I SHOULD DO SO THIS TIME AS WELL. BAD DECISION. I SHOULD HAVE QUERIED THE CTLR AND NOT HAVE ASSUMED. NO ACCIDENT OCCURRED; NO NEAR MISS. OUTBOUND STUDENT ACFT HAD TO WAIT FOR ME TO TAXI; BUT ONE OF US WOULD HAVE HAD TO WAIT ANYWAY. STILL; MY FAULT FOR NOT BEING SURE. CONTRIBUTING FACTORS; I BELIEVE; WERE COMPLIANCE WITH APCH CTLR'S REQUEST. HESITANT TWR CTLR; AND KNOWLEDGE OF PAST PATTERN AND PRACTICE AT THIS FIELD.