If he is over 2 years old, I would say yes bump him to mediums. Especially since you said, the smalls barely leave a lump. I feed my sunglow who is about 5' and almost 3 years old mediums and smalls. I just kind of vary it up with each feeding. Same goes for my large girl who is 6-7'. She gets rabbits some weeks and large rats others. Try a small medium and see how big of lump it leaves. it shouldn't look like a football but it should be noticeable.
Also all my snakes even after eating are still alert and would gladly take seconds or thirds. There is nothing wrong with them still being a little hungry after eating. They aren't pythons so you don't want to stuff them but also you don't want to starve them but then again, it would pretty hard to starve a boa as they can go a LONG time without food and no ill effects.
Also my sunglow sometimes gets 2 smalls or 1 medium and 1 small depending if my BP decides she isn't hungry. So nothing wrong with varying their food. Some feedings give them a extra healthy portion, other feedings, give them a smaller portion.
Also boas are always hungry so them tracking you is pretty normal. Whenever I open either of my gals' cages, they perk up and zoom up to check me out. When they smell its just me and no food, they usually lay down or keep coming and hang their head out the front door of the cage.