Particle dispersions provide a promising tool for the engineering of functional materials that exploit self-assembly of complex structures. Dispersion made from magnetic colloidal particles is a great choice; they are biocompatible and remotely controllable among many other advantages. However, their dominating dipolar interaction typically limits structural complexity to linear arrangements. This paper shows how a magnetostatic equilibrium state with noncollinear arrangement of the magnetic moments, as reported for ferromagnetic Janus particles, enables the controlled self-organization of diverse structures in two dimensions via constant and low-frequency external magnetic fields. Branched clusters of staggered chains, compact clusters, linear chains, and dispersed single particles can be formed and interconverted reversibly in a controlled way. The structural diversity is a consequence of both the inhomogeneity and the spatial extension of the magnetization distribution inside the particles. We draw this conclusion from calculations based on a model of spheres with multiple shifted dipoles. The results demonstrate that fundamentally new possibilities for responsive magnetic materials can arise from interactions between particles with a spatially extended, anisotropic magnetization distribution.