I had the same problem on my '55 2nd series. First, I replaced the brakelight switch.
Didn't work.
Next, I added a 2nd brake return spring. I thought 2 springs would pull the pedal up better.
Didn't work.
Next, I took a piece of heater hose about 4 inches long, sliced it lengthwise, wrapped it around the brake shaft at the point where the brakelight switch contacts it, and fixed it in place with a hose clamp.
This worked. The hose makes the diameter of the brake shaft larger and pushes against the switch a little more.
LT