Muhlenberg would seem to dispute the success of the kick. But there was an official looking right up the upright. 
I think the uprights should have a bar going across the top, so you have to "kick through" the square. Would eliminate the judgement calls like this, and make it more entertaining, since you'd have to lower the angle of trajectory on kicks to make it through, making it more likely to be blocked.
Will never happen, but would be a fun addition to the rules.