Hi!
First of all, let me tell that while I am going to mostly disagree with you, it's not because you did anything unappropriate :)
Yeah, fortified cities were often build on hills, but it wasn't a requirement and anyway, places were rarely so dramatically uneven that they had scarps within city limits. In fact, some of the most prominent medieval cities - London, Paris, Barcelona- were quite flat, at lest at their core historical centers. I didn't pick them to make my point, it just happened so that I'm familiar enough with them to use as examples (maybe if my experience was different, I would see it differently). Probably it's because in the long run having a navigable river as a mean of trade was more important than a fortress on a rock, maybe because on rugged terrain it's harder to expand a city.
That's not actually my point :) I like your images, the cliffs make the city look more interesting. But since they don't exactly have to be there, I prefer to omit them to let users interpret a map as they like.