I personally would go with a pair of the Klipsch RB-51 II, it will run you about the same price, but the Reference series is much better than the Icons. I recommend bookshelves instead of towers because when paired with a sub, the end result is essentially the same. Your receiver will set a crossover for your speakers, and since subs do a better job with bass, the benefit of towers (lower extension) is a moot point.
Klipsch speakers have good sensitivities, and your receiver will have more than enough power. I think going with the Reference series would be a more significant upgrade for you. Later on add the matching center and you can keep your current Quintets as surrounds for 5.1 or even 7.1.
Samsung PN60F5300 | Denon AVR-1713 | EMP E55Ti | EMP E56Ci | EMP E5Bi | Outlaw Ultra-X12