One of my main questions is this; if my headphones are loud enough does that mean they are being properly driven? Or is it possible that headphones need more power to drive them "properly" even though they are loud?
If they go loud enough without hearing URL='https://en.wikipedia.org/wiki/Clipping_(audio)']
clipping[/URL] (distortion) from your amplifier, everything is cool! Clipping is the most common kind of distortion and you can get it by turning-up the volume too loud... like trying to get 15 Watts out of a 10W amplifier.
If you have something with a built-in DAC like a phone or computer, they are usually designed so even at maximum digital volume the analog amplifier isn't maxed-out and it won't clip. (The digital data can be clipped if you boost the bass digitally, or something like that.)
P.S.
Getting at your "impedance" question, I'm going to throw a little electronics & math at you...
Amplifiers are "constant voltage" devices. The voltage isn't
really constant because it varies with loudness moment-to-moment. But, the voltage is mostly
independent of the load impedance up to the point where it can't supply the current.
Current
flows through wires & resistance and resistance (or impedance) is
"the resistance to current flow". Higher resistance or impedance means less current with the same voltage.
Lower impedance means more current.
Ohm's Law defines the relationship between Voltage, Resistance (or impedance), and
Current as Current = Voltage / Resistance.
Power (Wattage) is calculated as
Power = Voltage x Current.
From those two formulas you can derive
Power = Voltage squared / Impedance.
So, if you cut the impedance in half and maintain the voltage you get double the wattage.
If two headphones have the same efficiency (converting electrical power into sound power), but one has half the impedance,
the one with lower impedance will be dissipating twice the power and it will be louder!
So as a
generalization, lower impedance headphones
tend to be louder.
But of course headphones have different efficiency (usually specified as "sensitivity" with a
voltage reference). Planar headphones tend to be low impedance and low sensitivity, but dynamic headphones vary too.