The use of generalized internal coordinates for the variational calculation of excited vibrational states of symmetrical bent triatomic molecules is considered with applications to the SO2, O3, NO2, and H2O molecules. These coordinates depend on two external parameters which can be properly optimized. We propose a simple analytical method to determine the optimal internal coordinates for this kind of molecules based on the minimization with respect to the external parameters of the zero-point energy, assuming only quadratic terms in the Hamiltonian and no quadratic coupling between the optimal coordinates. The optimal values of the parameters thus obtained are shown to agree quite well with those that minimize the sum of a number of unconverged energies of the lowest vibrational states, computed variationally using a small basis function set. The unconverged variational calculation uses a basis set consisting of the eigenfunctions of the uncoupled anharmonic internal coordinate Hamiltonian. Variational calculations of the excited vibrational states for the four molecules considered carried out with an increasing number of basis functions, also evidence the excellent convergence properties of the optimal internal coordinates versus those provided by other normal and local coordinate systems.