I am not sure I would jump all the way to agreeing with "the JVC does a better job than the Panny". It comes down to implementation.
The JVC sounds best with analog inputs, whereas the Panny sounds best using a digital input, according to most reports.
The F-10 is better at driving difficult loads than is the ES-1, but your speakers are rated at 6 ohms, so theoretically speaking both JVC's should handle your speakers.
By most accounts, the F-10 is much superior in build quality to the ES-1 - I have not had my hands on the F series, but did have an ES-1 for a couple of months - decent sound, but a little delicate in terms of construction.
So, can you help us out a little with your system, and I am sure that you will get some advice!
Do you listen to mostly vinyl, or cd? Do you use a digital output, or analog output, from your cd source? What size room? Musical preferences?