You can peen anything you like, as in, you can smack anything with a hammer....but not everything reacts well to it! Remember that when trying to make your cell phone work.
The best you can hope for with G10 pins is that you don't damage them too much. But you won't get a stronger join with your handle. As said, composites are not malleable ("of a metal or other material) able to be hammered or pressed into shape without breaking or cracking.") Don't believe me, get a brass pin and a G10 pin, lay them both flat and smack the side of them.
G10 is epoxy based, so you are using epoxy to adhere to epoxy and handle material. You will absolutely get a stronger bond than with epoxy and metal.
There is another factor to think about. How thick are your scales? If you are sticking 1/8 thick wafer scales to a 3/32 thick tang, you will have more need of mechanical fastening of scales to tang. Thin tangs more likely to flex, putting peal load on your scale/tang bond line. AND short pins have little length with which to be bonded to scales. Use thick scales, greater than 1/4, and the length of holding bond line on your pin is such that you shouldn't need additional mechanical grip.