Without using a test disc, your only choice is to pick the cinema mode for the best image.
This article talks about the chances of you arriving at something better than the cinema mode when you copy numbers. You have less than 4% because your TV is not anywhere as good as the Pioneer set.
If you don't like the image on your TV, you have really 4 real choices ...
This article covers those choices.
Summarized, it is the following:
1. Use a test disc - follow instructions.
2. Buy hardware and software ... and spend the next year scrounging for information on how to calibrate TVs. You will get to a better image ... eventually.
3. Hire a professional.
4. Buy hardware and software ... and get professional level video training and you will get to a better image a lot faster than #2.
Three of these options will cost some money. Option 1 can be essentially free ... burn your own test disc.