I have both, and they're similar, but very different.
The DR200SE is a great little machine for exploring your end of the county. Cruises nicely at 50 mph on the pavement. It'll hang in tight curves with a sport bike. It'll go a little faster than 50, but I wouldn't run 60 for long. It's just wound too tight there. Geared low enough to head down unfamiliar trails.
The KLR650 is a road bike. You can get on it and explore the continent. Sure, it has long suspension and all of the features of a dirtbike, but it's bigger and heavier. You'll be content cruising at 60 (it'll go a lot faster). It's not even working on a two lane highway. Thump thump thump. It's geared a little high for serious obstacles (at least with average rider skills). It would do fine on dirt roads, logging roads etc, or across pastures, but I wouldn't be comfortable trying to follow an unfamiliar 4 wheeler trail through the woods.
Let off the clutch on the KLR650 in first gear and it wants to go 20 mph. The DR200 is ready to shift out of first at 10 mph.
I'd rather have the KLR, but that fits my needs. I love to go exploring backroads, and both bikes are great for that, but sometimes those backroads are connected by 4 lane highways with fast traffic. When I go exploring, I don't like having to turn back. The KLR doesn't have any bounds when it comes to roads.