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There are a number of things you could do about this, though.
1. If you have spaces in your roster, recruit more new heroes, and level them up to the appropriate rank for the boss fight.
If your roster is completely full:
2. Fire some of the higher-level heroes you don't want (e.g. Antiquarians, because you don't usually want to send an Antiquarian into a champion-level dungeon) to make room for new blood. See no. 1.
3. Complete a run of the Darkest Dungeon with your level 5 and 6 heroes. They will no longer count in your roster, allowing you four new spaces. Even better, they will have a special trait that will give any hero partied with them a 50% experience boost. See No. 1.
4. You could also edit the game files to remove this level restriction. You can find out how do that in this thread: http://steamcommunity.com/app/262060/discussions/2/612823460256961350/
I also forgot to mention that there is a rare town event that can remove the level restrictions temporarily. If I recall correctly, it is called 'A Helping Hand'.
Heros will refuse to go on missions that is beyond their skill level. In the game it is explained that they will not do it because they see it kind of like an insult, kind of like having an adult doing a math test for first grade where it is all just + and -. In game design it is simply so that the game shouldn't be easy, you are supposed to struggle and having lvl5 heros on medium hard missions is way to easy and you will not struggle at all.
lvl0-lvl2 heros can go into green/yellow/red missions (with a stress penalty on yellow and red)
lvl3-lvl4 heros can go into yellow/red missions (with a stress penalty on red)
lvl5-lvl6 heros can go into red missions
Unless you use mods or get the town event "A Helping Hand" these rules will always apply.
I once had a level 4 hero and he still went to the green dungeons