So what exactly is your issue? |Do you want it to have a lower FG (SG is starting gravity - the point which you pitch the yeast. FG would be final gravity.)
The biggest thing to be would be to drop the mash temp - 65 or so celsius (150 F) would be much better for getting a fermentable wort. |As far as time taken, part of that is what temps you're fermenting at. |Personally I like fermenting low for most of my beers, 60 or 62 F (15 - 17 C) seems to work for me. |It does take longer to ferment, but I'm in no hurry. I'll gladly leave it longer if it turns out a better product in the end.
|As far as clarity - how long do you leave it in fermenter? I've never had a issue with the yeast settling out with S05 (1056 / wlp001 - they're all the same|) as long as it's done fermenting and given time to settle. Another option might be a cold crash, if you're able. Once it's done and the gravity is stable, drop the tempsas low as practical - others might suggest a specific temp - which will encourage the yeast to settle out.