This is a great start Rick!
#1 and 3 look really good for the MW core. In #2, it looks like you shot it too close to sunset and the sky was not dark enough yet, so it's getting washed out. But #2 still looks nice.
As to the 500 rule, you will find the 400 rule better if you want pin point stars. so you should have went with a 15 sec shutter speed instead of 20 secs for 24 mm.
But it all depends on how much you pixel peep. I don't shoot too much at 24mm, but when I have I used to use 20 secs. With 14mm which I use most often now, I used to use 25 to 30 sec shutter speeds but now I primarily use 20 secs.
As to stars showing a small bit of streaking, you will also find it depends where you aim your camera as the stars will move faster in relation to our position.
For me, I wouldn't be too concerned with the small amount of movement in the stars at 20 secs, but if you had a faster lens, you could go to 15 secs.
And if you keep this up, you will want a faster lens for sure. f2.8 is a minimum really for night sky photography, with my preference being f1.8 or f1.4. You will find not only can you use a lower ISO which will help with noise, but having a lens that is open wider, everything in the image feels brighter, like being open wider it's letting in more light (which it is) and everything seems to have more life to it. So let me know when you are ready to look into a faster lens, I have shot with lot's of the faster lenses and
@Kyle Jones has as well, and we could help get you on the right path for a good lens.