Progressively worse relative size error at smaller absolute sizes
You should not look at the relative dimensional differences, you should be looking at the absolute differences. Multiplying the undersized dimensions in percentage with the cylinder diameter gives you a value of 0.4 &nbsp;mm for each cylinder give or take a few hundreds. So, basically your printer works very consistent it is just suffering from a systematic offset.

Basically, the printing process needs to
adjust the X-Y dimensions to compensate for plastic flow effects. An option or setting in Ultimaker Cura to counteract this is called Horizontal﻿ ﻿Expansio﻿n. Slic3r and Simplify3d have similar settings. In Slic3r it is called XY size compensation.