In "The Beginning: Making Star Wars: Episode I The Phantom Menace" (at ~3:08), George Lucas comments on the parallelism between The Phantom Menace and A New Hope: "with Anakin, you know, kind of duplicating the Luke Skywalker role, but you see the echo of where it all's gonna go: instead of destroying the Death Star, he destroys the ship that controls the robots. Again, it's like poetry, sort of; they rhyme. Every stanza kind of rhymes with the last one." This parallelism extends even to the grammatical structure of the titles. The Phantom Menace parallels A New Hope ([article][adjective][noun]), and Revenge of the Sith parellels Return of the Jedi ([noun][preposition][article][noun]). Attack of the Clones and The Empire Strikes Back are the exception here, but both titles describe a military conflict, so they're similar in a more general way. There's also an echo between Attack of the Clones and The Empire Strikes Back in that both feature a scene where R2-D2 reconstructs C-3PO.
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Near the beginning of each movie in the original trilogy, there's a shot of a Star Destroyer overhead:
Visually, this illustrates the dominance that the Empire has over the galaxy.