Quickly...
Properly set up towers will almost always sound better.
Sound is sound... HT or Music... Orchestra or video game...
Using Bass Management and a good XO to the Sub is important. Low Frequencies are very demanding, and offloading those to a specialized speaker (the Subwoofer) helps the higher frequencies perform/sound better through more efficient use of energy.
My opinion based on reviews is that the Pinnacles are a better speaker. I don't recall right now the drivers specifically, but the Pinnacles are closer to the Ultras it seems. I would step up to those, FWIW.