Pienaar's Aston Martin DBS was twice caught speeding on the same stretch of road in Essex during October last year.
The 30-year-old is now due to appear in court next month to answer the charges.
"Steven has moved swiftly to resolve this misunderstanding," said Gwynn Lewis, the South Africa international's lawyer. "Mr Pienaar was totally unaware of the court date due to moving to Merseyside in February - the correspondence from the court had been sent to his old address in Essex.
"He responded immediately to the warrant and made a pre-arranged visit to a police station in Cheshire today and was subsequently given unconditional bail to appear at Chelmsford Magistrates Court next month."
The allegations against Pienaar were proven in his absence and he will now wait for sentencing.