It is not a dungeon crawler.
Sure it is.
No. Legend of Grimrock, for instance, is a dungeon crawler. Diablo is a dungeon crawler. Dark Souls is a dungeon crawler.
A dungeon crawler requires a linear, or near-linear game progression, through a restricted game space(Often the eponymous dungeon), with a focus on fighting monsters and collecting treasure. In Pillars of Eternity, as in Baldur's Gate, you are free to deviate from the main story and explore areas disconnected from the story line, and can also follow multiple paths towards your objective. You explore a large and open world, and are free to engage in or ignore peripheral content such as optional quests.
That is not a dungeon crawler.
Based on your description, Dark Souls is absolutely not a dungeon crawler.