Toyota isn't lying. The fuel economy numbers are from the EPA after they test the vehicle under laboratory conditions ( not in the real world ) to simulate road conditions and speeds. This makes the test more even/uniform.
Many factors can change your actual mileage such as: average speed, tire pressures, wind speed and direction, ambient temperature, road grades ( hilly terrain ), use of A/C, open windows and/or sunroof, weight of occupant(s) and luggage, etc. ,etc. ,etc.