I own a 551 and owned an 810.
To me, the 810 is a great candidate when you want a knife you can use really hard at a size approaching that of some smaller fixed blades, and a steel that can hold up to that sort of work. For that, the 810 is hard to beat. The blade grind yields a very strong edge, strong blade, and strong tip, but with good performance for lighter tasks as well. The CPM-M4 steel gets a lot of praise for edge retention, but I think the toughness is an even more important feature on this sort of knife. CPM-M4 is much tougher than most other common folding knife steels, and it is Benchmade's toughest steel by a pretty wide margin. The edge retention is excellent, although to my understanding not as great as the M390 version (which trades some toughness for better edge retention and fantastic corrosion resistance.) I think Benchmade's choice of M4 for the Contego is a much more appropriate steel than any of their other offerings. The handle is also really good for using for extended periods and reducing usage fatigue. The downsides of course are the larger size, greater weight, and some people find the handles to be a little aggressive on pockets and skin.
The 551 is much lighter and is still plenty capable (although I would not personally push a Grip as hard as I would a Contego in some situations personally). The blade is a more traditional drop point versus the 'Reverse Tanto' found on the 810 (and 940 and 950). Some like it more, and some less. I like it less. The handle is good, but not is ergonomic as the 810, and not nearly as well-balanced IMO. The base 551 in 154CM is very good steel. However, it's really not comparable to M4 in regards to wear resistance and toughness and depending on what you are going with the knife, CPM-M4 could be a much better option. Another plus to the Grip is the ability to buy the same knife in two different sizes, which is useful for many people wanting a standard platform and having different options for different scenarios (it's like having a Glock 17 as a duty weapon and a Glock 19 or 26 for off-duty carry).
With all that said, I rarely carry a 551 because I think the RSK-MK1 (Ritter Griptilian) is a much better knife in many different ways and so the Ritter is the Grip that does in my pocket. Still, I rarely even carry that as I find all of these too large for most of my own usage.