I think they look good and happy so I'd say you are doing well. For me a lot is about the feel of the plant. When young plants can handle a lot of bending so I like to do it as soon as the plant is tall enough. If you wait too long you have to be more careful to avoid breakage.
I start earlier than some but it has worked well. I do one tie about 5-8cm up from the ground to hold the base of the stem vertical. Then 180° from the lower tie I do another 5-8cm up pulling the main stalk toward the side of the pot. I don't do it too low as I want a reasonable bit of space below for watering and airflow.
I would say they are doing fine ,if they are young they can be bent quite a lot
Also depends on your growing space , if you want to gain few more cm shorter plants , tie them like you just did .