I would be inclined to trim them a little higher so you can see when you drive out of your driveway. I like to make sure the tips are over 6' so that the person mowing doesn't get poked in the eye. Also you should make sure that anyone walking on the sidewalk won't get slapped in the face.
I wouldn't try and shape the stem at this point, it will create more work in future years as the branches react to the pruning.
It's my bias, but I think they look good the way they are.