B.G.
I know 9:30 might not be ideal, but it seems as though she has found a routine that is working for her. She's sleeping 10 to 12 hours at night, and that is more than I was able to get from my kids at that age. The time that she goes to bed is really not important (for her health). What's more important is the total number of hours of sleep she gets in a 24 hour period. I don't remember the recommendations for her age (I would guess 12 to 14 hours of total sleep), but I'm sure you can google that information.
If you really want to get her to bed sooner, the trade off is going to be an earlier start to your day. The advice I've heard is to begin by waking her up at a certain time each day. Once she gets used to a particular wake up time, she will naturally need an earlier bed time. My guess is that you might be looking at a 5 or 6 am wake up, but that could be something you're willing to do.
I was a SAHM until my youngest was 2 1/2. We needed to get up in time for my oldest to get to preschool, so there really wasn't any pressure to get the kids to bed much earlier than 9:30. When I went back to work and my oldest began kindergarten, I did need to work at adjusting their schedules. I did begin by waking them up earlier. It really only took a couple of days.
If you don't have a need to have her waking up earlier, I would probably leave it alone and make sure she continues to get as much sleep as she is getting now. Sounds very healthy to me.