I have been following the advice of Homesick Texan on this one for awhile:
Heat the dried chiles (anchos, pasillas, costenos, guajillos and chiles de arbol) in a dry, cast-iron skillet on medium for a couple of minutes on each side. Turn off the heat and then add enough water to the skillet to cover the chiles, and let them soak for half an hour.
the advantage to efficiency here being that you're not using beef broth/stock. That said, aside from imparting some bitterness, you should be able to reuse your soaking liquid.
If your concern is solely with the fact that one side is floating, and not getting wet, place a plate atop the soaking peppers to press them down into the liquid. You might also slice them in advance to allow air to escape and lessen their buoyancy (and would make it easier to remove the pith later without the pepper falling to shreds). However, in my experience, one side floating has never been a problem, though I typically stir the skillet a few times as well.