Pears were a type of fruit.
Pears were served at King Gilgamesh's court in Uruk. (PROSE: Timewyrm: Genesys)
When the Seventh Doctor turned himself into John Smith, he left instructions for Bernice Summerfield, one of which was to not let him eat pears, as he did not like them and did not want to wake up tasting that. (PROSE: Human Nature)
After the Tenth Doctor turned himself into John Smith, he ate a pear as he wandered near his biodata module. (TV: Human Nature)
The Twelfth Doctor also warned Clara not to eat pears as they were too "squishy" and always made your chin wet, just before he lost his memories of her. He stated that it was extremely important, and told her to write it down. (TV: Hell Bent) The Twelfth Doctor later gave his future self some advice before regenerating, one of which was "never, ever, eat pears" (TV: Twice Upon a Time)
Behind the scenes
In a deleted scene from Human Nature, when the Tenth Doctor turned himself into John Smith, he left instructions for Martha Jones, one of which was to not let him eat pears, as he did not like them and did not want to wake up tasting that.