Am I overweight???

In short, I am a 5'9" and 170 lbs vegetarian who's really into fitness and weight lifting and eats a fairly decent diet (lots of fruits and veggies but I still love them sweets and starches). I had noticed I had been gradually gaining some weight overtime and decided to check multiple BMI scales online and they all say that I am overweight. If I am to be "ok" by their standards, then I would need to lose a few pounds in order to be a "healthy weight". I already tried losing weight earlier this year and that was a miserable experience.

I am proud of my body and don't see any reason to be ashamed of it/change it, but is it important to lose those few pounds? I value being healthy, but is this really necessary? Is the BMI scale even a reliable resource??? Just wondering what you guys think