Cyrus's death was not nearly as noble or awesome as any legendary hero. He got busted by Magus easily and really did nothing beside beat up some helpless frog to get the Hero Medal. Thats all that was shown to us at least. Obviously he did something great to be able to head the Knights of the Square Table, but I gotta see it to believe his greatness.
Toma does everything he intends to do, and if he could fight he might have been able to get out of the cave alive. He knew about the Queen in the Catherdral before anyone else. And Marle said he was her type, so he has to be a pimp. Well maybe not a pimp, but he's got enough game to make a Princess like him.