Each Dali Zensor 1 weighs 4.2 kg, correct? Those Vogel brackets claim they can hold speakers as heavy as 5 kg. I think they will do the job for you. I have those same Vogel brackets. They've held NHT SuperZeros, my rear channel speakers, on the wall for 15 years.
Those B-Tech clamping brackets are for much heavier speakers, up to 25 kg. They are overkill for your speakers.
I've read a few forums etc and after taking a close look at the speakers e.g. can I open them up etc. and decided I don't want to screw into them (I'm not 100% sure if this is a good/bad decision, I'm making a "safety" call, correct me if I am wrong please).
I think you're worrying too much.
With any bracket, the most important part is locating the wooden stud behind the wall. If you screw the bracket through the drywall and into the support stud, it will stay where you want. (I am familiar with home construction methods in the US. Are you in Australia or New Zealand? Are the construction methods different?) Do not drive the screws into the unsupported dry wall or they will soon pull out.
Is there already a keyhole on the back of your Dalis, as in diagram 3e on the Vogel instructions? If not, is there anything on the back that you can use?
If not, do the following. It's very easy as well as safe & reliable. Look for threaded inserts like this (in the USA they're called E-Z Lok threaded inserts). They come in wide variety of sizes and lengths.
You'll have to decide what size to use for your speakers. Remove the screws that hold the woofer in place, pull it out, and see how thick the cabinet is. You want an insert no longer than the thickness of the wood of your cabinet.
Also buy machine screws (not a wood screw) that match the inside threads of the insert.
Drill a hole on the back of the speaker cabinet the same diameter as the outside shaft of the insert. You want the shaft to easily enter the hole, and as you turn it with a hexagonal drive tool, the threads on the outside cut into the wood. That's all it takes. With the threaded insert you can easily unmount the speakers and remount them without trouble.
This will not harm your speakers, and it will look much cleaner than those larger brackets with the clamps on the bottom.