I think you can use heat-shrink wire insulation. Home Depot sells a package that has six or eight different sizes of it and it's very easy to use.
Cut the pieces of insulation to the right length, slide it onto the wire, attach the eyelet or wire end, slide the insulation down to the eyelet/terminal end and aim a blowdryer at the tube of insulation (or hold a lighter under it) long enough to shrink it down snugly to the wire. It only takes a few seconds with the lighter, so be careful.
You can put multiple layers of this stuff on if you need to. I've never done the pedal end, before, but for the ends of the wires inside the pedal, I would use two layers of heat shrink insulation.
There is also a way of creating a knot just inside the opening on the pedal that alleviates strain on those terminal ends. I think Jenny has a sketch of that on her site. :)