You could edit Firefox's Firefox.app/Contents/Info.plist
and add <string>pdf</string>
e.g in the first CFBundleTypeExtensions
array, but that would get ripped-off at the next Firefox update.
So instead you may prefer to build a new Automator Application that will open these files in Firefox.
So head to Automator, (Applications/Automator), "New" -> "Application".
On the left panel, search for "Open Finder Items", double click or drag&drop on the right panel.
In the "Open with" option, select Firefox.app.

Now is alredy time to export our App ("File" > "Export").
Then we go with the Finder to the location where we just exported the App, right-click, "Show Package Content" > "Contents" and we open Info.plist with our favorite editor (TextEdit should be fine).
Search for the string <string>*</string>
below CFBundleTypeExtensions
and replace it with <string>pdf</string>
.
Save the document and go back to the Finder looking for a pdf file. Right-click, "Open with" > "Other..." and there select our App.
Firefox should open said pdf file and our App should appear in the menu:
