Leg position is dictated by a properly fitted bike. So for me it's as it should be. Slightly bend at the bottom of the pedal stroke.
I'm 6'2" (188cm) tall with a 32" (81cm) inseam and I ride a size 58 frame. You are shorter but have a taller inseam. So...you'd definitely be at least a 56cm and possibly a 58cm frame. There's a 17mm difference between the two in top tube length and 9mm difference in reach. The 58cm comes with a longer stem which would likely need swapped for something shorter if you went with the 58cm frame due to your shorter torso. But the 58cm frame would work better for your leg length. So it's hard to recommend with certainty because your upper body is a 56cm frame but your lower body is a 58cm frame.
Do you have a bike now? What is it? How does it fit? What size is it? What's the top tube length? Reach?