I think you misunderstood his solution - or maybe I misunderstood your last reply?
By creating those VLANs in pfSense, you can then create "virtual interfaces". So you can have the 2 or 3 "Virtual interfaces" you created on the LAN interface. Each virtual interface can have it's OWN DHCP server.
No need to route VLANs to the pfsense box.
Your cisco router would send the IP Helper address to each IP you assigned to the Virtual interfaces on pfsense. So instead of having 1 DHCP server, you will end up with 3 or 4 but they are all running on pfSense.
I understood your original question and this is what you are looking for. I have the same setup. Works perfect.