Best Small Floorstanding Speaker under $2K

Couple pairs of Soliloquy 5.3s for sale here now.  Small footprint, attractive, great imaging, and enough bass that you won't miss a sub.  And they're under $900/pr.  Best of luck.

As a Vandy owner, I think they are one of the best buys in hifi. But, to get a smaller footprint than the Zu’s, you are probably looking at the Vandy 1’s, or VSM. Both of which are going to need a sub.
The Zu Omen are pretty small for a floorstanding speaker and will give you pretty much what you are asking for- Bass but not floor shaking bass.
After looking at some of the previous suggestions, I don’t see any that are significantly smaller than the Zu’s. If you buy new, you can trial them for 30 days, too.
I own the Zu Union(an Omen predecessor) and can attest to their sound quality. When you tune the speakers properly, you can achieve some very impressive bass.

Q Acoustics. 

If your room isn't too big for it, I recommend an in-home audition of Ohm Walsh 1000s, $2000/pr.  If your room is smaller, the Walsh Micro Tall - $1400/pr - should do well.  You might be surprised at the extension and quality of the bass of these speakers, too.  See the Ohm Speakers web site, they offer a 120 in-home trial.

I'll second the Ohm recommendation and add Magnepan.  The latter is tall, but has a small footprint.