I mean, I can think of some ways to lower the prices, in a sense. Of course, both solutions have a cost that should be pretty obvious to anyone, and of course, are antithetical to American conservatism, but I'll list them anyway.
1) You could establish price ceilings on gas prices to keep them under $1.00. I'm not too familiar with the economics of gas stations, but from what I've been told, they make a net loss off of gas sales to begin with and compensate for them with convenience store sales (which would explain the unusually high cost of things in gas station stores, I guess). I'd be inclined to believe that they'd have to raise prices of convenience items to the point that they'd be uncompetitive and they'd probably go out of business eventually, which would probably destroy the economy unless the government stepped in and nationalized the gas station industry.
2) We subsidize gas prices. We allow gas stations to sell gas at a low price by compensating the difference in prices through government subsidies. A price floor would have to be established so gas stations couldn't sell their gas at a price that's close to zero and having tax payers foot the bill.
The second option is obviously the most viable. In fact, some South American countries have implemented this successfully, IIRC. There are negative consequences with making gas extremely cheap, however, such as over consumption. The cheaper gas is, the more it will be consumed, leading to higher scarcity, leading to a greater demand on funds needed to subsidize it, thus increasing the tax burden. If it's left unchecked, oil will be consumed to the point of total depletion. That's not to mention the increased carbon footprint caused by this overconsumption and the hidden costs involved. Of course, that's not necessarily set in stone because there are many unforeeable factors, such as we might be able to synthesize oil at a lower price than extracting it.