Hey John,
You don't need cp
at all.
Just open a Finder window, type Cmd-Shift-G, and paste in the path you want to go to:
/usr/local/bin
/usr/local/man/man5
Then drag the requisite files into the correct folder.
The Finder will make you authenticate the action, but that's it.
Once you've copied the files you're good to go – UNLESS /usr/local/bin/
is NOT in your $PATH.
You should not have a problem if pdftotext v3.0.4 was working for your, but if you do you can see this thread:
Create a PATH Environment Variable for Keyboard Maestro and Add /usr/local/bin to the Default Path
-Chris