Were the (early 17th C) arrivers/colonists to North America (USA) outcasts from European societies?

Almost by definition, the early American colonists were "different" from others in their home country. Some were criminals, many were "indigent," others had religious beliefs that prevented them from getting along well among their peers. Even wealthy colonists (like William Penn) tended to be "free thinkers" that didn't fit in well with "society."

Few people who were comfortable where they were would brave the hardships of the early journey to America. The ones who did were (mostly) misfits in some way.

The main thing I think you should realise about immigrants to the New World is that they weren't a coherent lot that you can throw in to one mental box. In fact, your choice of the word "pilgrim" is kind of shaky in this context, as proper Pilgrims were a specific religous community that emigrated as a group to a colony in modern-day Massachusets.

There were of course religous non-conformists, like the aforementioned Pilgrims and Quakers in Pennsylvania. There were also prisoners, which is cheifly how Georgia got its start. But you should note that in the 16th-18th Centuries going bankrupt would land you in prison, so a lot of the prisoners sent to European colonies didn't do anything worse than fail to make a couple of loan payments. There were also people running from the law, their familes, other people's families, or just looking to make their fortune.

As for how they were viewed back in Europe, it seems to have been a bit like frontiersman have always been viewed: Not particularly sophisticated, but perhaps a bit dashing. Benjaman Franklin famously played this image up by wearing a coonskin cap everywhere he went while he was acting as the Colonial Congress' ambassador to France.

You are conflating immigrants from different time periods. The North American colonies were established over a period of 150 years from approximately 1620 to 1770. During that time many different kinds of immigration occurred.

First of all, criminals were not allowed to immigrate normally. You had to be of good character to get sponsored to go to the colonies.

In the beginning only very select people were sent to the colonies, because it was enormously expensive to transport and support them, so only people favored by the crown and parliament were sent. The "puritans" were extremist Protestants who were favored by the English parliament and crown. They saw the colonies as a way to create a pure Calvinist society untainted by the immorality and papism in the British isles.

Later, after the English civil war especially, life became unpleasant for the Quakers (the Society of Friends) and large numbers of them immigrated for example in the 1660s. All of these people were quite well off, if not wealthy, due the huge cost of transport and the needs of paying for it themselves, without the assistance of the government or investors.

This pattern continued with various persecuted people of means coming over along with adventurers, often from Ireland, who wanted to set up plantations.

Before 1700, indentured immigrants were usually skilled tradesmen or otherwise capable people who could demonstrate their usefulness.

A few people fled to the new world. For example, after the failed Jacobite rebellion in 1745 the English went around systematically hunting down and murdering the Jacobites and some of them were able to secretely flee to the colonies by adopting a false identity. The lower costs of passage allowed such people to go if they were decently well off. However, such people were a minority compared to the religious immigrants.

Since this was lost in some other answers, in regards to "the Strangers" this piece may be illuminating:

The rest of the passengers, called "strangers" by the Pilgrims, included merchants, craftsmen, skilled workers and indentured servants, and several young orphans. All were common people. About one-third of them were children.

Remember, even though these were religious emigres coming over to start a new, they were here under a charter that demanded some sort of repayment on the investment given to get them here. So they needed skilled labor in addition to manual laborers, which many of the Pilgrims were not; they were just seeking religious freedom. From the Dutch, if I remember correctly, the Pilgrims were seen as odd since they left England to live in the Netherlands because they wanted to practice freely, yet they never learned Dutch and kept to themselves. After becoming homesick they went back to England, where many feared they would be arrested and their lands confiscated for their religion. So they sold what they could then chartered the ships to the New World, bringing their Strangers with them to help them create and build up the colony.

To also get back to your question, were they outcasts? Yes, in some fashion, as minority religious groups in many countries of the time could be.