Whole House System
Can't tell much from your VC pic. Can you read off a model number? Does it have jumpers labeld 1, 2, 4, 8, etc.?
If it does not have any jumpers, then it probably does not have the impedence matching feature and the speaker selector with this feature (or new VCs) is your best bet. AudioSource makes some inexpensive speaker selectors that should work well.
Concerning available power, lets say that you have the whole house connected to the B speaker terminals and are not running any speakers in the main 5.1 HT. Your receiver can probably deliver 100 Watts into 2 channels.
100 Watts / 6 = 17 Watts per speaker. This will probably not play very loud and would tax your receiver as suggested above.
An outboard amplifier like the Behringer A500 delivers over 200 Watts into 4 ohms and is only $180 making it an inexpensive solution. You can connect the Zone 2 line level out from the receiver to the input of the amp. Your receiver might even be able to trigger the amp to turn on.
Concerning the speaker cable from the main HT to the closet, make sure that it is 12 AWG or better to deliver all the power to the house speakers. If it is an RCA type cable then the amp will go in the closet with the speaker selector.
Good luck!