It's a pity he doesn't talk about how the stock was priced. GrubHub closed up 31% the day it IPO'd, which means that they left $59.2m on the table.
Note that the founders who sell into an IPO tend to hold onto a lot more stock than they sell, so they're not solely concerned with getting the best price at the IPO. Do you think when FB cratered after the IPO Mark Zuckerberg was smiling because he got a great price for the shares he sold?
Even Google wasn't smart or powerful enough to beat the system. They tried to do an auction instead of a regular IPO, but at the last minute large investors threatened to pull out, so Google IPOed at $85 and popped 17%.