Wireless communication provides a wide coverage at the cost of exposing information to unintended users. As an information-theoretic paradigm, secrecy rate derives bounds for secure transmission when the channel to the eavesdropper is known. However, such bounds are shown to be restrictive in practice and may require exploitation of specialized coding schemes. In this paper, we employ the concept of directional modulation and follow a signal processing approach to enhance the security of multiuser multi-input multioutput (MIMO) communication systems when a multiantenna eavesdropper is present. Security enhancement is accomplished by increasing the symbol error rate at the eavesdropper. Unlike the information-theoretic secrecy rate paradigm, we assume that the legitimate transmitter is not aware of its channel to the eavesdropper, which is a more realistic assumption. We examine the applicability of MIMO receiving algorithms at the eavesdropper. Using the channel knowledge and the intended symbols for the users, we design security enhancing symbol-level precoders for different transmitter and eavesdropper antenna configurations. We transform each design problem to a linearly constrained quadratic program and propose two solutions, namely the iterative algorithm and one based on nonnegative least squares, at each scenario for a computationally efficient modulation. Simulation results verify the analysis and show that the designed precoders outperform the benchmark scheme in terms of both power efficiency and security enhancement.