They don't keep a record of the PIN, the card machine probably doesn't even know its a PIN, its just waiting for you to enter a code which matches an algorithm presented to it by the bank and your card. If the reader stored the PIN, the shopkeeper would also need the account details stored on the chip - yes it is possible to create a card cloning machine which would also record the PIN, and I'm sure it has been done, but by and large they won't do that. It wouldn't surprise me if even both the bank's request code and your PIN are obfuscated by some means for the transmission process, so even the data entered by the end user is somehow useless after the sale anyway.
A bigger worry, I think, are sales made online. A lot of the time you just don't know what the company is doing with your data and I have heard of account details being stored in plain alphanumerics in unsecure locations.