Just another word to Valinor. I always pictured it as being in the "sky". I remember that when the Valar reshaped Arda after the Fall of Numenor they removed Valinor. Arda was flat in the First Age, then it is described as a round "planet". Therefore you need to go on the straight way to Valinor, to any "earthly" place you need to follow the circle.
Now to the question asked in the topic:
I always thought that under the sky is a reference to their awaikening under the sky full of stars. It is a sky by night in my mind.
But hey, I'm free to all interpretations.
ciao lilith
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