They will not only easily complete with full range speakers, they can exceed them in some ways and for several reasons.
Having the lower end separated and handed off to a separate sub or set of subs adds a lot of flexibility in balancing out the over all in room response.
The problem that you have is that you are using a mid-level home theater sub, and not something that will match well with the speakers.
We do have sealed servo subs that offer a lot of placement flexibility, speed, and control that will blend really well with the speakers. You can also place them just about anywhere in the room, and they don't take up much floor space.
You might also consider a set of double, open baffle, servo subs, and just lay them on their sides between the two speakers. With that combination you'll have a response that is flat down to 20Hz, and you'll never know that there are separate subs. It will sound like a three dimension reproduction.