Fit your unpeeled pear into a smaller sized pot to test which would hold the pears snuggly and allow the fluid to cover the pears mostly.
Peel and core the pears. If you prefer, you can also cut the pears into half lengthwise.
Once you have found a good sized pot, add the citron honey tea, cinnamon, orange slices, and water. If you are using the sugar, add it in now. Bring the mixture to a simmer and stir until honey and sugar dissolve.
My trick for getting the poaching bath to the right temperature is turn off the heat. Once it cools a bit, I put on the heat back on to a "barely there" level, then add in the pears. You don't want to see any signs of boiling or simmering. It should be a very gentle heating process.
After 15 minutes, start checking at regular intervals is the pears are soft yet. The pears are ready if a clean toothpick inserted goes in without pressure.
Retrieve the pears from the poaching bath.
This step is optional: Strain out the poaching fluid and put it back on the heat. Reduce the poaching tea until it coats the back of a spoon. This citron honey syrup can be used to serve the poached pears or even to sweeten beverages and oats.