Hyper-Raman (HR) spectra of benzene-h6, benzene-d6, and pyridine in the liquid phase excited at 1064 nm were measured by a picosecond laser with a high repetition rate. Although benzene and pyridine are important aromatic molecules, the qualities of the HR spectra previously reported were not high enough to be compared with those of IR and Raman spectroscopy. Our HR spectroscopic system significantly improves sensitivity that enables the detection of HR bands of benzene and pyridine not observed before. In addition to band assignments, we interpret HR bands of benzene based on the vibronic coupling theory of (pre-) resonance hyper-Raman scattering. Depolarization ratios of HR bands of benzene and pyridine, obtained from polarized-HR measurements, are first examined from a theoretical point of view of HR spectroscopy. Moreover, we evaluate quantum chemical calculations for HR spectra by comparing experimental and computational spectra. We show that the frequency-dependent polarizability and hyperpolarizability calculations using time-dependent density functional theory well reproduce the HR experiments for bulk aromatic compounds.