One of the many tools that can be used to learn the higher positions is the CAGED system. Though the application can be very useful, aspects of it can be simplified and studied in a more musical approach. Doing this might help you have a better understanding of chord voicing and harmony.
Below, check out some pro-shot and just plain enjoyable footage of Santana—who was born on this date in 1947—jamming with Stevie Ray Vaughan; Stevie's big brother, Jimmie Vaughan of the Fabulous Thunderbirds; and lefty guitarist Cesar Rosas of Los Lobos in October 1988.
This kind of thing reminds me of a Johnny "Guitar" Watson move. It also helps get fingers accustomed to sliding very quickly. And this kind of sliding technique might help you see connections on the fretboard while giving you an alternative to standard blues solos.