When enemies are close, you can actually attack them depending on your character's attacking arc. Some are large while others are small but ranged. Go to the position that you would like to attack from. Hold R1 and aim the arc at the enemies. Move the arc left or right to aim properly until you get "targets" above the enemies you want to attack. Sometimes you must quit aiming and move slightly to aim properly. Some require very slight adjustments; turn very slowly.