Please check Digital Signatures Guide for IT » A: Changes Across Releases » 11.0.9 -
The key usage extension of a usable certificate (if not absent) must contain nonRepudiation or digitalSignature.
The extended key usage extension (if not absent) must contain emailProtection, codeSigning, anyExtendedKeyUsage, or 1.2.840.113583.1.1.5 (Adobe Authentic Documents Trust).
Your second certificate does have both nonRepudiation and digitalSignature key usages but only one extended key usage, clientAuthentication but none of the required ones.
A certificate made for client certification alone cannot be used to sign PDF documents.