Baseboard radiator pipes running along edge of room
Option one - buy some baseboard radiator cover (just the cover) and put it over them. In the grander version of this you might do some replumbing to get them up inside it more neatly, but if it's heating season now, I suggest waiting for summer.
Option two - build a small pipe chase around them. Basically a board in front of the pipes, and a board on top of the pipes. That may need a board behind the pipes for stability - screw that one to the wall, screw them all together. Provide an easily unscrewed access port over that valve. The top board and supporting boards should tolerate being stepped on by normal humans, or perhaps even heavy ones.