I'm 6'0'' myself, and I don't have any problems with comfort, but then again, I have short legs
If your having troubles you might want to try a custom seat, more foam padding may help. There's a place here in NC that makes nice seats, I found it will searching the net for custom seats...
www.meancitycycles.com in Maiden NC
I wouldn't lower my pegs, that's for sure. Clearance is a big deal to me ...
Just my 2cents