When I think about yoga alignment, the approach I take these days is that there is no one "right" way to practice any yoga pose. The right way to align a yoga pose really depends on who is practicing the pose and what their individual goals are. Our goals can also change every time we practice a pose, and that's actually great. Otherwise we just practice the same thing the same way all the time and never provide new input into our tissues or our nervous system.
In this "hovering" variation of pigeon pose, my goal is to create *strength* in my hips in a pigeon-like joint arrangement. This is good stuff that will create tissue health and neurological control in my hips - something that nearly all of us can use more of. Consider changing up your pigeon pose regularly and all your other poses too - as long as they align with your specific goal in the moment, then that is "right" way for you to practice the pose.