Although I don't have a problem with this in the 2010, I notice they are 'right there'. That would be pretty frustrating. One thing you can do is recline the seatback a little more, or height adjust down which reclines seatback a bit.
For me, the headrests in the '10 Pri are not too far forward. In the 2009, they are too far back from my head, so I added a 7/8" slab of firm foam in a headrest cover.
I have found success with Rx300 or Highlander head rests they seem to be more vertical than Prius or Ct200 posts and padded both sides. Just shorten the posts about 1 inch and flip them around. The Rx300/Highlander headrest posts are 1mm to -2mm smaller in diameter so just apply clear heat shrink wrap (not electrical tape) to each post and enjoy. When you flip headrests around you will lose the click click setting from one side but if you need them to stay up 1 inch just don't cut the posts.