Is there a way to keep my small succulent plants from getting leggy.

http://www.drought-smart-plants.com/pruning-succulent-plants.html

That is the easiest, best description of how to prune succulents I've seen! Thanks, Janet!

They are obviously happy and growing! Does not matter that they do not cover the soil. Let them grow and before long you will have a large plant!

Ditto Janet's advice with link to article. Succulents are easy to root or just discard in garbage. Word of caution: some succulents are invasive; so I let those cuttings dry out completely in the garage before disposing. If you toss them on the lawn they will propigate and destroy your lawn.

Without seeing a photo I can't tell if this may be a factor: Is it possible that the shoots/legginess are actually in preparation for the plants to bloom? You may be snipping off the coolest time for the plant!

http://homeguides.sfgate.com/succulents-bloom-48298.html

http://www.desertplantsofavalon.com/how-to-get-your-cacti-succulent-plants-to-flower/