Okay just make sure that you have the .img file saved some where on your PC.Yes, I have tried fastboot to flash the TWRP img, as well as skipsofts toolkit. I guess I've been using the term "flash" for fastboot, as I haven't been able to use twrp yet.. I understand that you need to flash the TWRP img via pc and then flash the TWRP zip, then SuperSU or magisk, whatever your poison may be!
Also, save the twrp.zip file to your pixel
Then boot to bootloader
Once there run the following
fastboot boot "path/to/twrp.img"
(The path to twrp.img would be where ever you saved the img file.)
That should boot you to a "Temp TWRP" if you will. Once there you can proceed to install TWRP.zip as a normal zip file.
Just wanted to clarify your not flashing anything at the bootloader... your just booting the image from PC.