They are all great bikes that will serve you well, and you'd be more than happy with either of them. I doubt you'll find a Canyon to test unless a friend or club mate has one they can lend you. Canyons always tend to be better value for money due to their direct-to-consumer model. After sales support is reportedly a little hit or miss (I've never needed it, my Aeroad has been awesome so far). They did answer my pre-sale email within a day, so that was good.
If you love the look of the Pinarello, get it. I just did around 400km on a hired Pinarello F8-S and it was pretty cool. I wouldn't buy one, but a great bike nonetheless.