joymiske -
I would suggest filing that complaint to your Attorney General right away. Make sure you include all the details you've just given here. After you file the complaint, write a letter to the lenders, requesting you be marked paid in full, and revoking their authorization to debit your bank account. (There's a great letter on Pollyandsay's blog on this site.)
By doing both, you should be on your way to getting these loans marked as paid in full. However, keep an eye on your bank account. You may have to close it and open another account to prevent these companies from debiting your account under another "doing business as" name.
Brownsugar is correct in her questions above, though - you need to be sure you have paid back the amount you borrowed, plus the state allowed interest. If you have already done so, then you should go ahead with your complaint to the Attorney General.
You may have a bit of a fight on your hands, but in the end, you will prevail!