Before you part with money to further complicate the issue, I suggest you check out what you have. It should work just fine. In 40 years, I've never met a sound system I couldn't improve. There's just too much to go wrong.
Here's some things I'd look at:
Lack of "punch" is often undersized speaker wire. Short runs need at least 14ga., low-ox stranded wire labeled speaker wire. Monster is great but overpriced, and you won't gain a thing from specialty wire costing big bucks. The junk that came with the Pioneer, Radio Shack and lamp Cord from the hardware store are a no-no. Over ten feet in length, consider 12ga. Don't worry about the rears, as they don't do squat anyway.
I can't wait to see what the audio crowd has to say about the above.
Then re-check speaker phasing. Put the system in stereo (towers only), stand between the towers and close your eyes. If the music sounds like it's in the middle of your head, you're out of phase. Check all connections at both ends. Next, try the same trick in surround, standing mid way between the center and one tower. This is harder. What you need is crowd noise or something coming out of both the towers and the center at the same volume for this test. Unfortunately, I have yet to see a test disk with this critical track on it.
Phasing is fundamental. Until that is perfect, you will never get where you want to go.
Next, I'm concerned about bi-amping the towers. It's easy to screw that up, so compare your present setup to using the passive crossover Klipsch built them with. If it sounds better, use those extra channels for the bedroom or terrace. Not that I think you are dumb, just that I've found it to be a common problem with electronic crossovers in general. Even if you have the Pioneer properly configured in the menu, I don't trust the Pioneer to do what it claims it is doing.
As for the "boom", consider our old friend phasing. Put on some bass-heavy stereo music (towers only; Pioneer in "Stereo" mode) and have someone else flip the phase switch on the sub while you listen for the best bottom (i.e. smoothest and loudest) while sitting in your normal listening position. Ignore the opinion of the tester person. They are too close to the forest (sub) to hear a tree fall. Next, have your tester person vary the crossover point. Less is best. Every time you increase the crossover point by an octave, you increase the distortion and lower the power handling capacity of the speaker. I often disconnect the sub and set the towers to full range (and even mono if available) in the amp. Then I try to memorize the notes I can hear in a piece of music with a good bass guitar line that I play over and over. Next, I turn on the sub only, and adjust the crossover point to reproduce that bottom note and below, but nothing above*. Finally, set the crossover frequency in the Pioneer to give you that same sound in the sub. That will keep those low frequencies out of the towers, significantly cleaning up and tightening their sound by letting them do what they do best and not asking for more.
*A word about the "nothing above" statement. "Nothing" is code for less than normal. We're looking for the crossover point, and we know we've found it when the note we want is there, and everything above that is attenuated or gone altogether. Having the sub reproduce the same program material as the towers is like having two cooks in the same kitchen.
I know this sounds complicated, but it isn't, and well worth the trouble. Too much HF in the sub or too much LF in the towers will really muddy up the system's overall performance. Why? Consider the cones trying to vibrate at two octaves at once. Can you sing two notes at once? Something's got to give. Now, consider several octaves from the same cone. Those speakers need all the help we can give them.
Also, there's the phasing by time between the sub's location and the towers. Sound moves slowly enough to be affected by speakers different distances away from you and each other. Yes, you can compensate for speaker to listener distances in the Pioneer, and you must do it accurately with a tape measure. Don't trust an auto setup program for this. The program can't see your room, so it can be confused by reflections off that bronze statue of James Brown.
Setting the speaker to listener distance accurately still doesn't compensate for the physical differences between the speakers. In an ideal world, all speakers are in the same horizontal plane, i.e. a straight line at the base of a triangle with you at the tip. Best way to get it right? Rearrange the furniture. Good luck with the wife.
Finally, don't over do it on the sub's volume. Most people do. A great sound system is one you aren't aware of. You want the sub and rears to just be audible with the Pioneer's tone controls set flat and the loudness switched off. That way, you can doctor the low end all you want, up or down, to suit the movies you spend too much time watching. The low end of movies is all over the place from one studio and director to another. There seems to be no hint of standardization.
As for my crack about spending too much time watching movies, I have a theory. If "Music sooths the savage beast", movies agitate him. Those Klipsch are way too fine to waste on Dirty Harry alone.
And don't believe that crap about "you can put the sub anywhere". In a corner of the same wall as the TV is my favorite. The corner closest to the TV is best. Behind the TV is next best. Beside the sofa, back of the room, etc. is out.
Regarding your concern over power, don't be. Those high efficiency Klipsch will run you out of the room now with the Pioneer at 25% power.
Get a DVD of The Eagles' Hell Freezes Over and listen to the bonus (audio only) track at the end. You will undoubtedly want to crank it. Then play it again, and stick your good ear in front of each speaker. You won't believe what you learn. Quality is all in your head.