Yeah, part of the key of posing is seeing how you or someone else poses naturally. For example, think about weight and balance, not just for the toy, but for how a real being would. Sometimes the toys articulation is limited so you need to take liberties and get as close as you can, but look for subtle things like wrist rotation and ankles and thighs and such. If it looks uncomfortable, it's probably uncomfortable, unless the articulation isn't there.
Also, give them life. Even as robots, they should feel a certain "living" feel.
I Gave Laserbeak more life by having him stand up a bit more. It's subtle enough to look better than flat down like the G1 toy is designed.
This is actually based on Arkham City artwork.
It takes time to set up, but it's fun when it works.