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Also with light setups you can roll further, meaning you can get in, poke a few times, then roll once and you're basically a mile away.
And for normal mobs, the quick attacks mean you can usually strike first (often landing a counterhit) and break their poise. This works for PvP too.
As for the low armor, the people that make PvE videos (I guess that's what you're refering to) typically are playing in high NG grades, and there your armor matters little outside of elemental resistances. Even with the heaviest of heavies you're going to get killed quickly if you get caught, so they go for high mobility instead.
Weight-load affects stamina-regeneration, as said. It has nothing to do with your damage, at least not directly.
Flynn's Ring should be mentioned though, it gives +50 AR at 60 equipload (as the max. stat, not the %, equals 14 Vitality or 9 Vit w/ 3rd Dragon Ring, IIRC). To maintain that bonus and also fast stamina regeneration to be able to attack mutiple times quicker, you basically have to sacrifice much armor so that it'll be just as good to go naked for the stamina-regen.
TL;DR: Rapiers are perfect for boss-slaying due to high counter-damage, low stamina consumption and weight and hence insane dps.
Basically you go Leo Ring, Flynn's Ring, Ring of Blades +2, Chloranthy Ring +2 while being naked except for a +10 Rapier (or better Espada Ropera or Ice Rapier) which you buff with a Resin of the element that the boss is weak to. This setup offers +100 flat AR on your Rapier and a couple % (about 15 IIRC) more damage on counter-hits while having lightning-fast stamina-regeneration. There's simply nothing better against bosses.
TL;DR#2: The best way to use Thrusting Swords in PvE is naked.
The Estoc is actually one of the worse PvE-Rapiers, unlike in Dark Souls III.