How to clean tan cloth seats and arm rests?

I recently bought a 2004 Prius, Black exterior, tan cloth interior. It is in pretty good shape inside and out, but there is some dirty areas on the interior (both driver's side armrests, and a few spots on the front seats)- what would be the best way to clean the dirty areas without making them look worse? I would just shampoo/steam clean it, which I have done with every other vehicle I've owned, but being such a light color, I wouldn't want to pull dirt out of the padding and make the seats look dirtier. I've also noticed the material has a temdency to water spot (couple places it got wet from rain or snow) and I don't know if cleaning will help or just water spot it worse. I could use a foaming upholstery cleaner, which wouldn't saturate the material, so no pulling dirt from behind, but the residue might attract dirt. Just wondering what my best plan of action is, and how to go about it. The interior is NOT filthy, just normal wear and tear type dirt. I always keep my vehicles spotlessly clean, so the little amount of dirt is becoming annoying. Any advice is appreciated!

 

I finally got around to cleaning mine today, I realized we have a couple bottles of carpet/upholstery spot remover sitting around (they come free with the carpet shampoo we buy from Sam's club) So I decided to try it out. It's not a foaming cleaner, but it seemed to work great- I started with the center console, sprayed it on and rubbed with a clean dry white rag (an old raggy bath towel that has moved from the spare bathroom to cleaning rag duty) and it came out great- did it a couple times and moved on to the door armrests and a couple spots on the front passenger seat.. All left to dry and came out beautifully clean and soft. Also soaked and scrubbed my front floor mats, they came out like new as well. So it's looking great and I need to move on to the outside now.