You can request a higher floor when you do on-line check-in. I have been in a variety of Theme Park view rooms and they have all be wonderful. I do not think I have been below floor 7, though. I don't know why people think you should be able to see "into" the park. Even from Top of the World lounge, you really can't see things like people walking up and down main street. If you have enough points, go for it, at least once, in my opinion. We do theme park view most of the time; but when we are low on points, we will do lake view. Some lake views will also give you a view of MK.....but even if you do that and request certain rooms, there is no guarantee that you will get those rooms.
I never tire of sitting on the balcony, watching the monorail go by, hearing the ferry whistle, seeing the Walt Disney World railroad train going around the corner, watching the comings and goings of CM's rushing from the parking lot to work at the Contemporary. And nothing beats being able to sit on the balcony, in your pj's, adult beverage in hand, watching the fireworks. Especially if you are there during Halloween, as the ones the nights of the parties are spectacular.