It usually doesn't hurt the pump it if is slightly over filled. It sounds like you mya have developed an air bubble somewhere in the system. Ford steering pumps are known for this. With the vehicle running turn the wheel lock to lock a few times and recheck the fluid. If it is still over full or the loud moaning continues try pulling a vacuum on the system. This is a trick shown to me by a TRW rep.
You will need the following parts: a spare filler cap, plastic vacuum nipple, drill and bit, RTV, and a length of vacuum tubing.
Start by drilling a hole through the spare cap the size of the vacuum fitting. Insert the nipple into the hole and secure with RTV. Once the RTV dries attach the vacuum tube to the nipple. Remove the filler cap from your pump and replace it with the new one. Make sure the flud level is at the correct level. With the engine running, use either a hand held vacuum pump or attach the hose to a vacuum fitting on the engine (make sure it isn't a crirical source). Once the vacuum is applied turn the wheel from lock to lock several times. If there is a bubble in the system the vacuum will bring pull it out. Hope this helps.