Apparatuses, systems and methods for forming elongated composite structural members are provided. One disclosed method includes providing a substantially elongated mandrel having an exterior surface exhibiting a desired geometry. A plurality of plies of fiber material preimpregnated with a thermosetting resin are laid up and pressed onto the mandrel, Pressing the plies of material may include passing one or more rollers over the mandrel and over the plurality of plies along a length of the mandrel. The roller or rollers may be at least partially complementary in shape with the mandrel while maintaining the plies of material in a substantially uncured state during the pressing. The method may include sequentially passing a plurality of rollers over the mandrel and the plies of material. The method may also include configuring a first roller to partially complementarily engage the mandrel and configuring another roller to substantially fully complementarily engage the mandrel.