The problem is none of our rooms seem to ever get really warm. Especially the living area with the vaulted ceiling. The living room vents are at the apex of the vaulted ceiling and all the other vents throughout our home are located next to interior walls.The return is in a very short hallway (next to the living room) at one end of our home in the ceiling as well. I have been told this is fine. I have also been told that the proper placement should be next to outside walls in the floor since our return is in the ceiling. Also, because we should be heating the exterior walls since this is where the cool air is entering the home. Can anyone tell me should we look at moving them to the floor or are they truly fine?

Most forced air systems are set up with the supply vents like yours around the outside walls. The returns are usually at the bottom of the walls near the center of the house. I think the vents near the ceiling are an effort to improve air conditioning. All our supply vents are in the floor. The returns are near the floor downstairs and near the ceiling upstairs. It seems to work fine.

Except for the cathedral ceiling, moving the vents might not be much of a job. Most systems do not use ducts, but just rely on the drywall and studs for the return. Thus you could cut another hole below the vent, move the cover, and patch the drywall above.

However, I am not sure that is fixing the problem you have. Your furnace could be undersized, misadjusted, the blower speed wrong, etc. I don't know enough to explain how to check and adjust that. Unless somebody else here can, it may be a case of calling a HVAC technician. I did much of the physical work of installing my furnace and A/C, but had the people from where I bought it come out and start it up and adjust it.