I seriously understand hating confrontation and wanting positive relationships with the neighbors, but it sounds like you have tried civil and those dogs could kill you, so I think you have to be forceful and make it clear that you have the right to shoot the dogs if they are coming at you on your property. :/
I get what you are saying, but I do think they should try to work it out first, asap. OP describes a nook with just three house on a shared driveway. It could become mighty uncomfortable in that cozy little nook if people's tempers flare up, especially in southwest Virginia.