What is the definition of a "pole" of a celestial body?
You are mixing the rotation of the body around a barycenter with its moons, and the rotation of the body around its own center.
For a bound rotation like Pluto and Charon both have to have the same rotation period - yet both have to be present. Thus Pluto's axis of rotation of course intersects its surface - it rotates around its own axis at exactly the same speed as it orbits around the common barycentre with its moon Charon. Were it different, it would not be a bound rotation.
The North pole usually is defined as the place where the body's rotation axis (about it's own center of mass) with the right-hand-rule intersects the surface (thus the vector of the rotational momentum in positive direction intersects the surface when placed in the centre of rotation).
There is virtually no non-rotating body.