Truth is, you do not need an amp in your current set up. I respect you may want one, which is fine. It is important to not set your expectations too high that an Amp will improve the overall performance of your speakers.
I think the argument for which Amp, if any, should lie in your goals of further upgrading your system. For example, that DR3 is an absolute monster that would go well powering some very neutral, accurate speakers that may otherwise present difficult loads for an AVR alone (more so even than what the 7-channel amp can do).
All that said, if you were to just hang out in the Klipsch ecosystem, either of those Amps are still way overkill.
Consider, please, that with a Speaker capable of producing 92dB off 1w @ 1m, you would likely never use more than 64w, ever. That 64w would push that Speaker to 110dB @1m, which is over the threshold for reference level dynamic peaks. Even that would usually only hit for a fraction of a second as the programming drops back to a more normalized level.
My recommendation is to either buy the Amp with an eye toward a serious speaker upgrade, or just spend the money to upgrade your speakers now and worry about amplification later if you find you need something more powerful to drive the speakers you choose.