You are in a great position of shopping for both a tow vehicle AND a trailer. If time allows, you may want to look around at popups and/or small trailers that you like before purchasing the Pilot, and get a more solid idea of what your towing needs are going to be before investing in a tow vehicle. It is sometimes surprising to find out what the actual weights are of the RV you fall in love with, and you don't want to make a mistake like buying an expensive new Pilot and an RV, and then discovering after towing a few times that your set up is not ideal and you need a more "stout" tow vehicle.
Now, if you have your heart set on the Pilot as your next vehicle and you will be towing with it, I would agree with clkelley...the higher the tow capacity the better! That extra 1000 lbs of towing capacity on the 4wd model would cover passengers and cargo inside the Pilot, leaving that much more for actual trailer weight. As Judy noted above, all that stuff you will carry in the Pilot counts toward your capacities! If you have a family to haul with you....or dogs....or BEER....you will want a higher capacity. Then, you can find a pop up that fits within your limits and not worry.
BTW, I personally think Pilots make excellent tow vehicles! They are quite stable for an SUV. I'm no expert...but if you match it up well with a popup and don't overburden it you should have a good combo. Good luck!