Have a page for the pillar topic and one for the sub topic if you have the word count to justify it.
Otherwise sub topics can be H2s
if you have two separate pages I would avoid keyword cannibalization were possible. Keep your keywords on the page that target them.
However it may be necessary to talk in the context of pillar content. If you do mention the Pillar keyword, make it a text link to the pillar page. That way google will attribute the use of that word to the pillar page when ranking - and it will in fact strengthen the pillar page.
Does that make sense?