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Fill large saucepan three-fourths full with water; bring to a boil over high heat. Add asparagus, cover and cook for 1 minute. Drain, rinse with cold water and pat dry. Set aside. Place chicken on flat work surface. Using a sharp knife, cut each breast down a long side almost in half. Be careful not to cut chicken all the way through. Open each breast half and spread flat. Sprinkle cut sides evenly with one-half teaspoon salt. In small bowl, combine goat cheese, rosemary, thyme, parsley and lemon zest. Stir in one teaspoon lemon juice. Divide goat cheese mixture into four parts; spread each over a piece of chicken. Place three asparagus spears on long side of each breast half. Roll up each breast half to enclose asparagus, allowing tips to extend outward. Secure with toothpicks. Sprinkle the outside of the roulades evenly with one-half teaspoon salt and one-fourth teaspoon pepper. In large, non-stick skillet, warm canola oil over medium heat. Add chicken and cook, turning every 4 - 5 minutes, for about 15 to 20 minutes total. Remove chicken from pan, cover with foil and set aside. In large bowl, combine spinach and arugula. In medium skillet over medium heat, warm olive oil. Add garlic and saute, stirring, 1 minute. Add remaining lemon juice and honey, remaining salt and pepper; saute 1 additional minute. Pour warm vinaigrette over greens; toss gently to wilt. To serve, place wilted greens on serving platter. Remove toothpicks from chicken and discard. Slice chicken roulades crosswise into 1-inch thick rounds. Arrange roulades on greens and sprinkle with pine nuts.
