A:Answer Hello,
The AVR-S570BT will be able to power your Klipsch Heresy Legacys, but it isn't an ideal match.
If you have a surround sound system I would suggest looking at the AVR-X3800H, as it has a more sophisticated power amplifier stage, capable of allow the Heresy Legacys to sound more composed with lively source content.
If you have a 2 channel set-up, the PMA-900HNE or the PMA-1700NE would be capable of similar results. The PMA-1700NE being the preferred choice if you have a large room and/or a desire to play at spirited volume levels.
Any of these models deliver plenty of stable high current, which is required to get the best out of the Heresy Legacys.