Mine does that too, but more so. You're right - it's due to low light.
ZZs don't seem to like a lot of direct sun, but an East facing window would probably make any new canes it puts out grow more upright.
I doubt that any of the current canes will ever change how they sit, but it would probably be alright to stake them up, if it really bothers you.

I personally like the arching look that ZZs grown in low light develop. I think it's sort of relaxing.

Thanks for your advice. I'll try moving it into more light and see if it makes a difference.