The strong dipole-dipole interactions arising when atoms are excited to high-lying Rydberg states is a powerful method for designing entangling interactions in neutral atoms.  I will explore how adiabatic dressing of ground-state atoms with Rydberg states provides an avenue for further manipulation of nonclassical states based on the techniques of optimal control.  By mapping a symmetrically-coupled Rydberg ensemble to the Jaynes-Cummings model, I will show how we can obtain arbitrary control of superpositions of collective Dicke states.  Moreover, adiabatic dressing and quantum control can allow us to create high-fidelity entangling two-qubit gates, robust to random atomic motion at finite temperature, and other imperfections.