Steep

The akropolis of modern Kyparissia is built against the steep slope of a mountain that reaches into the clouds. The views are stunning and it's a very strategic location, but the well-built city isn't there anymore, it's now a castle.

...since the Arcadians had often disputed the possession of the country; and hence the same Pylus was called both Arcadian Pylus and Triphylian Pylus.

This would mean Arkadian Pylos, which was simply renamed Arkadia sometime before 1205 CE, though probably much earlier since Arkadians settled there somewhere in the 7th to 8th century CE, was the same as Trifilian Pylos. Therefore, Kyparissia aka Arkadia was named Pylos two thousand years ago.

Info panel Kyparissia Castle
Geographica Book 8.3.3 Strabo
Geographica Book 8.3.3 Strabo

For almost a thousand years the name of the city wasn't Kyparissia, it was Arkadia. When Strabo visited the region two thousand years ago, he wrote:

The information panel (lower right) at the castle informs us Kyparissia Castle is built right on top of the ancient city.
However, there's also an issue with the name Kyparissia.

On top of that, Homer calls this whole country as far as Messene "Pylus", as so often giving it the same name as the city. We've just found Nestor's Pylos!

Pylos

Arene

Thryon

Aipu

Kyparisseis

Amphigenia

Pteleos

Helos

Dorion