Thank you for the comments. So it turns out that all 3 of the zones that have a PR over 5 are flower beds. The reasons the PR is so high are: (1) the heads are right up against the house and aimed so as not to spray the windows , (2) the beds are narrow, so I have to have a narrow angle and multiple heads to cover, (3) the zones have low square footage for the number of sprayers, and (4) the water pressure here is VERY high. Two of those zones also have drip hoses (as separate zones), but they cover other areas as well, so I can't shut them off. The worst zone does not have drip irrigation and has a PR of ... wait for it ... 12.51! That consists of 4 narrow beds around my pool that have less than 200 square feet and 2 sprayer heads per bed.
That last zone is the easiest to correct. I turned the volume way down on each sprayer to minimize overspray. Then I capped one of the two sprayers on two of the beds. Lastly, I'm going to try to convert two of the beds to drip irrigation. I don't know how to do that yet, but I'll try this weekend.
The other two zones are harder because I'll have to find a way to redistribute some sprinkler heads out of drip zone areas. Once that's done, I can remove the sprinkler zones that are already covered by drip hoses.
As for the watering restrictions, they usually involve limiting our watering to 1 or 2 days a week, and only during certain hours of the day. I'm not sure how to accomplish that yet with the Rachio. Any advice is appreciated. Thanks.