Yes, change them. Do not lower the top onto the safety bar - it is not meant to be a long-time support. It is just a safety feature. The part about lowering the top onto the bar is simply a check to see that the bar has become engaged. Once you've done that raise the top to the full up position again and leave it that way when camping.
Hi-Lo 1707T - Tire Minder TPMS on Tow Vehicle and Trailer, 300W Solar Battery Charger, Equal-i-zer WDH
2014 F150 Platinum 4x4 3.5L EcoBoost SCrew