Cirilo, who qualified for Tokyo 2020, won the women’s C-1 200m with a time of 00:48.736, surpassing Chilean Maria Mailliard (00:49.297) and Russian Irina Andreeva (00:49.473).
Katherin Nuevo, also from Cuba, finished eighth with a time of 00:49.107.
Pelier won the men’s C-1 1000m with a time of 04:03.063.
Cuban Fernando Dayan Jorge (04:07.523) and Italian Carlo Tacchini (04:08.582) finished second and third, respectively.
Pelier won his knockout heat in the C-1 500m with a time of 01:54.424, ahead of Moldovan Oleg Tarnovschi (01:56.209) and Lithuanian Vadim Korobov (01:58.050).
Pelier will seek to advance to the grand final, to take place on Sunday, while Cirilo and Nuevo will do so in the C-2 500m, while Serguey Torres and Fernando Dayan Jorne, also from Cuba, will do so in the C-1 5000m.