Those engaged in the "bail enforcement" (aka: fugitive apprehension, etc) business are acting as agents of the bailee (the surety on the bond posted for bail). As such, they have all of the authority of the bailee when acting on his behalf. The agency agreement will spell out what compensation the agent is entitled to if successful in apprehending the fugitive bailor, and is typically a percentage of the amount that the bailee (surety) will have to surrender to the court in the event that the fugitive cannot be produced.
Surety bonds posted to secure bail are essentially a form of insurance policy. The bailor makes certain promises, such as appearing at court appearances as ordered, and grants to the bailee (surety) certain levels of control over his person and permitted activities (such as requirements not to change addresses without notification/permission, not to leave the state, checking in with the surety on certain days and times, etc). Any violation of any of the terms and conditions can be cause for the surety to take physical custody of the bailor, deliver him to the court (or sheriff), and discharge the bond.
These agents are typically free-lance operators who receive no compensation whatsoever unless they successfully produce the fugitive (or directly cause the apprehension). All expenses incurred in the investigation to locate the fugitive are typically paid by the agent (travel, lodging, meals, document fees, public records fees, etc). This contributes to a situation in which the agent knows that he is burning his own money in hopes of collecting a larger sum upon apprehension of the fugitive. Adding in the fact that the friends and relatives of fugitives are not always forthcoming or helpful, and you may experience situations in which the bail enforcement agents stretch the envelope, or step over the line.
Each state is different, but usually the business activities of bail bondsmen will be regulated by a state agency, such as an insurance commissioner or similar office. You should be able to find a means to file complaints to the oversight agency controlling the licensing and activities of bail bondsmen. Since the men that came to your home were acting as agents of the surety, that surety is responsible for their acts as a simple application of the laws of agency in general (subject to limitations based upon whether or not the agent was acting in accordance with the instructions of his principal).
A complaint to the appropriate oversight agency in your state should, at a minimum, put the surety (bail bondsman) on notice that he is rather exposed to sanctions (license suspension, revocation, etc) by retaining the services of agents that are behaving in the manner described. There may also be other legal remedies that could be applied.
In cases such as this I would expect the bail bondsman might reply to complaints with comments like: "No, I never told them to carry guns", "No, I never told them to go at night", "No, I didn't tell them to go to that house", etc. You might also find that his agreement with the agents provided specific instructions and/or restrictions of their actions, in which case the agents may have been acting outside of the authority of the surety, thus exposed to criminal or civil sanctions. Or you may find that the surety provided little or nothing in the way of instructions or restrictions, thus opening an argument of negligence in selecting and retaining the agents, failure to properly supervise the agents, or other impropriety.
Again, all states are different in their laws and regulations of such businesses. Since you seem to have suffered no measurable or quantifiable injury (property damage, personal injury, loss of work, etc) you may find that you have little upon which to base a civil claim (lawsuit). In that case, your best hope for redress would be civil or administrative action by the agency that licenses and regulates bail bondsmen and/or bondsmens' agents.