I've a P5 plus a 2001 Miata, nearly the same engine. Plugs are copper and cheap, get the pre-gapped NGK's (-11) from the dealer for $2.25/each or so.
I know its my imagination, but it seems to me these little Mazda's love fresh plugs. With that huge old fashioned valve cover (beautiful to look at in comparison to the new plastic cover can't see the engine modern thing), they are very easy to get at from above. I change my plugs every 15k miles on the Miata. But I'm sure 30k is fine per OM.
I recommend getting from Sears the locking 3/8" extension (you lock the ball detent with a small slider) and a quality Sears plug socket so you have no problem either with the plug coming out of the socket or the socket coming off the extension.
Start the plug by hand with just the socket/extension. For first timers I highly recommend using a quality torque wrench set at 15 ft-lbs. The biggest problem is to under torque.