1) Aim the speakers so they cross about 12" in front of your nose at the listening position, perhaps even a bit more. The speakers can be toed in as much as 45 degrees.
2) Sit on the floor, or nearly so, about 6-8" raised above it max.
3) Aim the speakers directly ahead, perfectly perpendicular to their placement axis. (Yes, this is the opposite of suggestion #1, different things work in different situations)
4) Move the listening position closer to the speaker plane (Again, the opposite of suggestion #1)
5) If using bookshelf speakers, get rid of the stands and put them on the floor, tilted upwards anywhere from 5 to 45 degrees, wooden supports work best.
You can mix or eliminate any of the suggestions, e.g. sitting on the floor works for all the positions.