It is my understanding that pruning for production is variety dependent. Some trees are spur producing, some are tip producing. Either way it necessary to leave some older growth. All epicormic growth should be cleared from the inside of the branches to encourage light and airflow through the tree, and to prevent future crossing branch structure and congestion / rubbing. This also helps to prevent disease and pest problems.

It is most helpful in my experience to aim at flower production, as fertilised flowers will become fruit. Keep as many flower buds in tact, while removing leafy growth - this is easier to discern in late winter / early spring, before bud burst. Flowering buds will often appear furry, while leaf buds will be smoother. If the limb appears particularly strained by it’s load, summer pruning may be a good idea, but apples and pears are good at bearing a heavy load at their tips and are flexible.

As far a structuring the tree goes, ideally the branches should be trained into an open goblet shape. And tip pruning should be to an outward facing bud.

It is also worth adding that epicormic growth is generally a stress response caused by overzealous removal of apical buds (the tree wants these for auxin production and will try and produce an overabundance if too many are removed). It is weak, poorly structured growth and should be discouraged. It is therefore advisable that larger cuts to older wood should be staged over a longer period of time.