Azaleas bloom on buds set the previous summer, the suggestion they be pruned immediately after flowering is to prevent losing those buds and their spring bloom for a year. If you are enjoying the blooms, wait until until the flower colors begin to fade and prune then.

Azaleas have dormant growth buds all along the stems just under the bark and should sprout from immediately below any cut you make - so you can cut them back quite hard if necessary. I think you would be happier with those plants if you improved on their shape, but if you are thinking of keeping them below that low window, pruning hard is going to give you a short lived reprieve of just a couple of seasons before they are taller in height again.
If low growing plants is your goal there, it might be better to move those elsewhere and replace with something that stays low naturally.

Thanks so much for the reply. In the future, I plan on moving them, but for now, I will prune them back. The elderly lady we purchased the house from had vast amounts of flower beds, which right now, look even worse than the azaleas, so I am concentrating my efforts on those this year!

I like to have azaleas and rhododendrons growing partway up the windows. That way you can see the blooms better from inside and it frames the outside view. Besides, in your case, they can cover up the backside of your couch from the outside view.
All I would do is lightly trim them after blooming to get a more formal look.